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ESP32 | FLUTTER | BLE - MPU6050, Rotate your 3d object in the app
This commit is contained in:
Eric
615
Esp32_MPU6050_ble_FLUTTER/esp32_mpu6050_ble/MPU6050_6Axis_MotionApps20.h
Executable file
615
Esp32_MPU6050_ble_FLUTTER/esp32_mpu6050_ble/MPU6050_6Axis_MotionApps20.h
Executable file
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// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
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// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
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// 5/20/2013 by Jeff Rowberg <jeff@rowberg.net>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// 2019/07/08 - merged all DMP Firmware configuration items into the dmpMemory array
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// - Simplified dmpInitialize() to accomidate the dmpmemory array alterations
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// ... - ongoing debug release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2012 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
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||||
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||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
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#define _MPU6050_6AXIS_MOTIONAPPS20_H_
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#include "I2Cdev.h"
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#include "helper_3dmath.h"
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// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
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#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
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#include "MPU6050.h"
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// Tom Carpenter's conditional PROGMEM code
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// http://forum.arduino.cc/index.php?topic=129407.0
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#ifdef __AVR__
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#include <avr/pgmspace.h>
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#else
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// Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
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#ifndef __PGMSPACE_H_
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#define __PGMSPACE_H_ 1
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#include <inttypes.h>
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#define PROGMEM
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#define PGM_P const char *
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#define PSTR(str) (str)
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#define F(x) x
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typedef void prog_void;
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typedef char prog_char;
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typedef unsigned char prog_uchar;
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// typedef int8_t prog_int8_t;
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// typedef uint8_t prog_uint8_t;
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// typedef int16_t prog_int16_t;
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// typedef uint16_t prog_uint16_t;
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// typedef int32_t prog_int32_t;
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// typedef uint32_t prog_uint32_t;
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#define strcpy_P(dest, src) strcpy((dest), (src))
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#define strcat_P(dest, src) strcat((dest), (src))
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#define strcmp_P(a, b) strcmp((a), (b))
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#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
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#define pgm_read_word(addr) (*(const unsigned short *)(addr))
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#define pgm_read_dword(addr) (*(const unsigned long *)(addr))
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#define pgm_read_float(addr) (*(const float *)(addr))
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#define pgm_read_byte_near(addr) pgm_read_byte(addr)
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#define pgm_read_word_near(addr) pgm_read_word(addr)
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#define pgm_read_dword_near(addr) pgm_read_dword(addr)
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#define pgm_read_float_near(addr) pgm_read_float(addr)
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#define pgm_read_byte_far(addr) pgm_read_byte(addr)
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#define pgm_read_word_far(addr) pgm_read_word(addr)
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#define pgm_read_dword_far(addr) pgm_read_dword(addr)
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#define pgm_read_float_far(addr) pgm_read_float(addr)
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#endif
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#endif
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/* Source is from the InvenSense MotionApps v2 demo code. Original source is
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* unavailable, unless you happen to be amazing as decompiling binary by
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* hand (in which case, please contact me, and I'm totally serious).
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*
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* Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
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* DMP reverse-engineering he did to help make this bit of wizardry
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* possible.
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*/
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// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
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// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
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// after moving string constants to flash memory storage using the F()
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// compiler macro (Arduino IDE 1.0+ required).
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//#define DEBUG
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#ifdef DEBUG
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#define DEBUG_PRINT(x) Serial.print(x)
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#define DEBUG_PRINTF(x, y) Serial.print(x, y)
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#define DEBUG_PRINTLN(x) Serial.println(x)
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#define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
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#else
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#define DEBUG_PRINT(x)
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#define DEBUG_PRINTF(x, y)
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#define DEBUG_PRINTLN(x)
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#define DEBUG_PRINTLNF(x, y)
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#endif
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#define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
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#define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
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#define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
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/* ================================================================================================ *
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| Default MotionApps v2.0 42-byte FIFO packet structure: |
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| |
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| [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
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| 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
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| |
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| [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
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| 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 |
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* ================================================================================================ */
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// this block of memory gets written to the MPU on start-up, and it seems
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// to be volatile memory, so it has to be done each time (it only takes ~1
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// second though)
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// I Only Changed this by applying all the configuration data and capturing it before startup:
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// *** this is a capture of the DMP Firmware after all the messy changes were made so we can just load it
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const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
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/* bank # 0 */
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0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
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||||
0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
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||||
0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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||||
0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
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||||
0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x40, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCB, 0x47, 0xA2, 0x20, 0x00, 0x00, 0x00,
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||||
0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
|
||||
0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
|
||||
0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
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||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
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||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
|
||||
0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
|
||||
0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
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||||
/* bank # 1 */
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||||
0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
|
||||
0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
|
||||
0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
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||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x09, 0x23, 0xA1, 0x35, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
|
||||
0x80, 0x00, 0xFF, 0xFF, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00,
|
||||
0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
|
||||
/* bank # 2 */
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x01, 0x00, 0x05, 0x8B, 0xC1, 0x00, 0x00, 0x01, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
/* bank # 3 */
|
||||
0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
|
||||
0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
|
||||
0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
|
||||
0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
|
||||
0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
|
||||
0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
|
||||
0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
|
||||
0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0x4C, 0xCD, 0x6C, 0xA9, 0x0C,
|
||||
0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
|
||||
0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
|
||||
0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
|
||||
0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
|
||||
0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
|
||||
0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
|
||||
0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
|
||||
0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
|
||||
/* bank # 4 */
|
||||
0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
|
||||
0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
|
||||
0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
|
||||
0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
|
||||
0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
|
||||
0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
|
||||
0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
|
||||
0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
|
||||
0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
|
||||
0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
|
||||
0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
|
||||
0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
|
||||
/* bank # 5 */
|
||||
0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
|
||||
0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
|
||||
0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
|
||||
0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
|
||||
0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
|
||||
0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
|
||||
0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
|
||||
0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
|
||||
0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
|
||||
0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
|
||||
0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
|
||||
0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
|
||||
0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
|
||||
0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
|
||||
0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
|
||||
0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
|
||||
/* bank # 6 */
|
||||
0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
|
||||
0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
|
||||
0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
|
||||
0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
|
||||
0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
|
||||
0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
|
||||
0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
|
||||
0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
|
||||
0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
|
||||
0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
|
||||
0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
|
||||
0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
|
||||
0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
|
||||
0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
|
||||
0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
|
||||
0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
|
||||
/* bank # 7 */
|
||||
0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
|
||||
0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
|
||||
0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
|
||||
0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
|
||||
0xDD, 0xF1, 0x20, 0x28, 0x30, 0x38, 0x9A, 0xF1, 0x28, 0x30, 0x38, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0x28, 0x30, 0x38,
|
||||
0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0x30, 0xDC,
|
||||
0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xFE, 0xD8, 0xFF,
|
||||
|
||||
};
|
||||
|
||||
#ifndef MPU6050_DMP_FIFO_RATE_DIVISOR
|
||||
#define MPU6050_DMP_FIFO_RATE_DIVISOR 0x01 // The New instance of the Firmware has this as the default
|
||||
#endif
|
||||
|
||||
// I Simplified this:
|
||||
uint8_t MPU6050::dmpInitialize() {
|
||||
// reset device
|
||||
DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
|
||||
reset();
|
||||
delay(30); // wait after reset
|
||||
|
||||
// enable sleep mode and wake cycle
|
||||
/*Serial.println(F("Enabling sleep mode..."));
|
||||
setSleepEnabled(true);
|
||||
Serial.println(F("Enabling wake cycle..."));
|
||||
setWakeCycleEnabled(true);*/
|
||||
|
||||
// disable sleep mode
|
||||
setSleepEnabled(false);
|
||||
|
||||
// get MPU hardware revision
|
||||
setMemoryBank(0x10, true, true);
|
||||
setMemoryStartAddress(0x06);
|
||||
Serial.println(F("Checking hardware revision..."));
|
||||
Serial.print(F("Revision @ user[16][6] = "));
|
||||
Serial.println(readMemoryByte(), HEX);
|
||||
Serial.println(F("Resetting memory bank selection to 0..."));
|
||||
setMemoryBank(0, false, false);
|
||||
|
||||
// check OTP bank valid
|
||||
DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
|
||||
DEBUG_PRINT(F("OTP bank is "));
|
||||
DEBUG_PRINTLN(getOTPBankValid() ? F("valid!") : F("invalid!"));
|
||||
|
||||
// setup weird slave stuff (?)
|
||||
DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
|
||||
setSlaveAddress(0, 0x7F);
|
||||
DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
|
||||
setI2CMasterModeEnabled(false);
|
||||
DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
|
||||
setSlaveAddress(0, 0x68);
|
||||
DEBUG_PRINTLN(F("Resetting I2C Master control..."));
|
||||
resetI2CMaster();
|
||||
delay(20);
|
||||
DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
|
||||
setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
|
||||
setIntEnabled(1<<MPU6050_INTERRUPT_FIFO_OFLOW_BIT|1<<MPU6050_INTERRUPT_DMP_INT_BIT);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
|
||||
setRate(4); // 1khz / (1 + 4) = 200 Hz
|
||||
|
||||
DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
|
||||
setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
|
||||
setDLPFMode(MPU6050_DLPF_BW_42);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
|
||||
setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
|
||||
|
||||
// load DMP code into memory banks
|
||||
DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
|
||||
DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
|
||||
DEBUG_PRINTLN(F(" bytes)"));
|
||||
if (!writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) return 1; // Failed
|
||||
DEBUG_PRINTLN(F("Success! DMP code written and verified."));
|
||||
|
||||
// Set the FIFO Rate Divisor int the DMP Firmware Memory
|
||||
unsigned char dmpUpdate[] = {0x00, MPU6050_DMP_FIFO_RATE_DIVISOR};
|
||||
writeMemoryBlock(dmpUpdate, 0x02, 0x02, 0x16); // Lets write the dmpUpdate data to the Firmware image, we have 2 bytes to write in bank 0x02 with the Offset 0x16
|
||||
|
||||
//write start address MSB into register
|
||||
setDMPConfig1(0x03);
|
||||
//write start address LSB into register
|
||||
setDMPConfig2(0x00);
|
||||
|
||||
DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
|
||||
setOTPBankValid(false);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
|
||||
setMotionDetectionThreshold(2);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
|
||||
setZeroMotionDetectionThreshold(156);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
|
||||
setMotionDetectionDuration(80);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
|
||||
setZeroMotionDetectionDuration(0);
|
||||
DEBUG_PRINTLN(F("Enabling FIFO..."));
|
||||
setFIFOEnabled(true);
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting DMP..."));
|
||||
resetDMP();
|
||||
|
||||
DEBUG_PRINTLN(F("DMP is good to go! Finally."));
|
||||
|
||||
DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
|
||||
setDMPEnabled(false);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
|
||||
dmpPacketSize = 42;
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
|
||||
resetFIFO();
|
||||
getIntStatus();
|
||||
|
||||
return 0; // success
|
||||
}
|
||||
// Nothing else changed
|
||||
|
||||
bool MPU6050::dmpPacketAvailable() {
|
||||
return getFIFOCount() >= dmpGetFIFOPacketSize();
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
|
||||
// uint8_t MPU6050::dmpGetFIFORate();
|
||||
// uint8_t MPU6050::dmpGetSampleStepSizeMS();
|
||||
// uint8_t MPU6050::dmpGetSampleFrequency();
|
||||
// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
//uint8_t MPU6050::dmpRunFIFORateProcesses();
|
||||
|
||||
// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (((uint32_t)packet[28] << 24) | ((uint32_t)packet[29] << 16) | ((uint32_t)packet[30] << 8) | packet[31]);
|
||||
data[1] = (((uint32_t)packet[32] << 24) | ((uint32_t)packet[33] << 16) | ((uint32_t)packet[34] << 8) | packet[35]);
|
||||
data[2] = (((uint32_t)packet[36] << 24) | ((uint32_t)packet[37] << 16) | ((uint32_t)packet[38] << 8) | packet[39]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[28] << 8) | packet[29];
|
||||
data[1] = (packet[32] << 8) | packet[33];
|
||||
data[2] = (packet[36] << 8) | packet[37];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
v -> x = (packet[28] << 8) | packet[29];
|
||||
v -> y = (packet[32] << 8) | packet[33];
|
||||
v -> z = (packet[36] << 8) | packet[37];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (((uint32_t)packet[0] << 24) | ((uint32_t)packet[1] << 16) | ((uint32_t)packet[2] << 8) | packet[3]);
|
||||
data[1] = (((uint32_t)packet[4] << 24) | ((uint32_t)packet[5] << 16) | ((uint32_t)packet[6] << 8) | packet[7]);
|
||||
data[2] = (((uint32_t)packet[8] << 24) | ((uint32_t)packet[9] << 16) | ((uint32_t)packet[10] << 8) | packet[11]);
|
||||
data[3] = (((uint32_t)packet[12] << 24) | ((uint32_t)packet[13] << 16) | ((uint32_t)packet[14] << 8) | packet[15]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[0] << 8) | packet[1]);
|
||||
data[1] = ((packet[4] << 8) | packet[5]);
|
||||
data[2] = ((packet[8] << 8) | packet[9]);
|
||||
data[3] = ((packet[12] << 8) | packet[13]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
int16_t qI[4];
|
||||
uint8_t status = dmpGetQuaternion(qI, packet);
|
||||
if (status == 0) {
|
||||
q -> w = (float)qI[0] / 16384.0f;
|
||||
q -> x = (float)qI[1] / 16384.0f;
|
||||
q -> y = (float)qI[2] / 16384.0f;
|
||||
q -> z = (float)qI[3] / 16384.0f;
|
||||
return 0;
|
||||
}
|
||||
return status; // int16 return value, indicates error if this line is reached
|
||||
}
|
||||
// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (((uint32_t)packet[16] << 24) | ((uint32_t)packet[17] << 16) | ((uint32_t)packet[18] << 8) | packet[19]);
|
||||
data[1] = (((uint32_t)packet[20] << 24) | ((uint32_t)packet[21] << 16) | ((uint32_t)packet[22] << 8) | packet[23]);
|
||||
data[2] = (((uint32_t)packet[24] << 24) | ((uint32_t)packet[25] << 16) | ((uint32_t)packet[26] << 8) | packet[27]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[16] << 8) | packet[17];
|
||||
data[1] = (packet[20] << 8) | packet[21];
|
||||
data[2] = (packet[24] << 8) | packet[25];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetGyro(VectorInt16 *v, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
v -> x = (packet[16] << 8) | packet[17];
|
||||
v -> y = (packet[20] << 8) | packet[21];
|
||||
v -> z = (packet[24] << 8) | packet[25];
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
|
||||
// get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g)
|
||||
v -> x = vRaw -> x - gravity -> x*8192;
|
||||
v -> y = vRaw -> y - gravity -> y*8192;
|
||||
v -> z = vRaw -> z - gravity -> z*8192;
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
|
||||
// rotate measured 3D acceleration vector into original state
|
||||
// frame of reference based on orientation quaternion
|
||||
memcpy(v, vReal, sizeof(VectorInt16));
|
||||
v -> rotate(q);
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
|
||||
/* +1g corresponds to +8192, sensitivity is 2g. */
|
||||
int16_t qI[4];
|
||||
uint8_t status = dmpGetQuaternion(qI, packet);
|
||||
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
|
||||
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
|
||||
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
|
||||
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
|
||||
return status;
|
||||
}
|
||||
|
||||
uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
|
||||
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
|
||||
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
|
||||
v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
|
||||
|
||||
uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); // psi
|
||||
data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y); // theta
|
||||
data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1); // phi
|
||||
return 0;
|
||||
}
|
||||
|
||||
#ifdef USE_OLD_DMPGETYAWPITCHROLL
|
||||
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
|
||||
// yaw: (about Z axis)
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
|
||||
// pitch: (nose up/down, about Y axis)
|
||||
data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
|
||||
// roll: (tilt left/right, about X axis)
|
||||
data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
|
||||
return 0;
|
||||
}
|
||||
#else
|
||||
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
|
||||
// yaw: (about Z axis)
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
|
||||
// pitch: (nose up/down, about Y axis)
|
||||
data[1] = atan2(gravity -> x , sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
|
||||
// roll: (tilt left/right, about X axis)
|
||||
data[2] = atan2(gravity -> y , gravity -> z);
|
||||
if (gravity -> z < 0) {
|
||||
if(data[1] > 0) {
|
||||
data[1] = PI - data[1];
|
||||
} else {
|
||||
data[1] = -PI - data[1];
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
|
||||
|
||||
uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
|
||||
/*for (uint8_t k = 0; k < dmpPacketSize; k++) {
|
||||
if (dmpData[k] < 0x10) Serial.print("0");
|
||||
Serial.print(dmpData[k], HEX);
|
||||
Serial.print(" ");
|
||||
}
|
||||
Serial.print("\n");*/
|
||||
//Serial.println((uint16_t)dmpPacketBuffer);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
|
||||
uint8_t status;
|
||||
uint8_t buf[dmpPacketSize];
|
||||
for (uint8_t i = 0; i < numPackets; i++) {
|
||||
// read packet from FIFO
|
||||
getFIFOBytes(buf, dmpPacketSize);
|
||||
|
||||
// process packet
|
||||
if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
|
||||
|
||||
// increment external process count variable, if supplied
|
||||
if (processed != 0) (*processed)++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
|
||||
|
||||
// uint8_t MPU6050::dmpInitFIFOParam();
|
||||
// uint8_t MPU6050::dmpCloseFIFO();
|
||||
// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
|
||||
// uint8_t MPU6050::dmpDecodeQuantizedAccel();
|
||||
// uint32_t MPU6050::dmpGetGyroSumOfSquare();
|
||||
// uint32_t MPU6050::dmpGetAccelSumOfSquare();
|
||||
// void MPU6050::dmpOverrideQuaternion(long *q);
|
||||
uint16_t MPU6050::dmpGetFIFOPacketSize() {
|
||||
return dmpPacketSize;
|
||||
}
|
||||
|
||||
#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
|
||||
@@ -0,0 +1,465 @@
|
||||
|
||||
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#include <BLEDevice.h>
|
||||
#include <BLEServer.h>
|
||||
#include <BLEUtils.h>
|
||||
#include <BLE2902.h>
|
||||
|
||||
BLEServer* pServer = NULL;
|
||||
BLECharacteristic* pCharacteristic = NULL;
|
||||
bool deviceConnected = false;
|
||||
bool oldDeviceConnected = false;
|
||||
|
||||
// See the following for generating UUIDs:
|
||||
// https://www.uuidgenerator.net/
|
||||
|
||||
#define SERVICE_UUID "4fafc201-1fb5-459e-8fcc-c5c9c331914b"
|
||||
#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8"
|
||||
|
||||
|
||||
class MyServerCallbacks: public BLEServerCallbacks {
|
||||
void onConnect(BLEServer* pServer) {
|
||||
deviceConnected = true;
|
||||
BLEDevice::startAdvertising();
|
||||
};
|
||||
|
||||
void onDisconnect(BLEServer* pServer) {
|
||||
deviceConnected = false;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
|
||||
// for both classes must be in the include path of your project
|
||||
#include "I2Cdev.h"
|
||||
|
||||
#include "MPU6050_6Axis_MotionApps20.h"
|
||||
//#include "MPU6050.h" // not necessary if using MotionApps include file
|
||||
|
||||
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
|
||||
// is used in I2Cdev.h
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
||||
#include "Wire.h"
|
||||
#endif
|
||||
|
||||
// class default I2C address is 0x68
|
||||
// specific I2C addresses may be passed as a parameter here
|
||||
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
|
||||
// AD0 high = 0x69
|
||||
MPU6050 mpu;
|
||||
//MPU6050 mpu(0x69); // <-- use for AD0 high
|
||||
|
||||
/* =========================================================================
|
||||
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
|
||||
depends on the MPU-6050's INT pin being connected to the Arduino's
|
||||
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
|
||||
digital I/O pin 2.
|
||||
* ========================================================================= */
|
||||
|
||||
/* =========================================================================
|
||||
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
|
||||
when using Serial.write(buf, len). The Teapot output uses this method.
|
||||
The solution requires a modification to the Arduino USBAPI.h file, which
|
||||
is fortunately simple, but annoying. This will be fixed in the next IDE
|
||||
release. For more info, see these links:
|
||||
|
||||
http://arduino.cc/forum/index.php/topic,109987.0.html
|
||||
http://code.google.com/p/arduino/issues/detail?id=958
|
||||
* ========================================================================= */
|
||||
|
||||
|
||||
|
||||
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
|
||||
// quaternion components in a [w, x, y, z] format (not best for parsing
|
||||
// on a remote host such as Processing or something though)
|
||||
//#define OUTPUT_READABLE_QUATERNION
|
||||
|
||||
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
|
||||
// (in degrees) calculated from the quaternions coming from the FIFO.
|
||||
// Note that Euler angles suffer from gimbal lock (for more info, see
|
||||
// http://en.wikipedia.org/wiki/Gimbal_lock)
|
||||
//#define OUTPUT_READABLE_EULER
|
||||
|
||||
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
|
||||
// pitch/roll angles (in degrees) calculated from the quaternions coming
|
||||
// from the FIFO. Note this also requires gravity vector calculations.
|
||||
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
|
||||
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
|
||||
#define OUTPUT_READABLE_EULER
|
||||
|
||||
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
|
||||
// components with gravity removed. This acceleration reference frame is
|
||||
// not compensated for orientation, so +X is always +X according to the
|
||||
// sensor, just without the effects of gravity. If you want acceleration
|
||||
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
|
||||
//#define OUTPUT_READABLE_REALACCEL
|
||||
|
||||
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
|
||||
// components with gravity removed and adjusted for the world frame of
|
||||
// reference (yaw is relative to initial orientation, since no magnetometer
|
||||
// is present in this case). Could be quite handy in some cases.
|
||||
//#define OUTPUT_READABLE_WORLDACCEL
|
||||
|
||||
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
|
||||
// format used for the InvenSense teapot demo
|
||||
//#define OUTPUT_TEAPOT
|
||||
|
||||
|
||||
|
||||
#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
|
||||
#define LED_PIN 22 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
|
||||
#define SDA 0
|
||||
#define SCL 4
|
||||
bool blinkState = false;
|
||||
|
||||
// MPU control/status vars
|
||||
bool dmpReady = false; // set true if DMP init was successful
|
||||
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
|
||||
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
|
||||
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
|
||||
uint16_t fifoCount; // count of all bytes currently in FIFO
|
||||
uint8_t fifoBuffer[64]; // FIFO storage buffer
|
||||
|
||||
// orientation/motion vars
|
||||
Quaternion q; // [w, x, y, z] quaternion container
|
||||
VectorInt16 aa; // [x, y, z] accel sensor measurements
|
||||
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
|
||||
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
|
||||
VectorFloat gravity; // [x, y, z] gravity vector
|
||||
float euler[3]; // [psi, theta, phi] Euler angle container
|
||||
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
|
||||
|
||||
// packet structure for InvenSense teapot demo
|
||||
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === INTERRUPT DETECTION ROUTINE ===
|
||||
// ================================================================
|
||||
|
||||
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
|
||||
void dmpDataReady() {
|
||||
mpuInterrupt = true;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === INITIAL SETUP ===
|
||||
// ================================================================
|
||||
|
||||
void setup() {
|
||||
// join I2C bus (I2Cdev library doesn't do this automatically)
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
||||
//Wire.begin();
|
||||
//Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
|
||||
Wire.begin(SDA, SCL, 400000);
|
||||
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
|
||||
Fastwire::setup(400, true);
|
||||
#endif
|
||||
|
||||
// initialize serial communication
|
||||
// (115200 chosen because it is required for Teapot Demo output, but it's
|
||||
// really up to you depending on your project)
|
||||
Serial.begin(115200);
|
||||
|
||||
// Create the BLE Device
|
||||
BLEDevice::init("ESP32 THAT PROJECT");
|
||||
|
||||
// Create the BLE Server
|
||||
pServer = BLEDevice::createServer();
|
||||
pServer->setCallbacks(new MyServerCallbacks());
|
||||
|
||||
// Create the BLE Service
|
||||
BLEService *pService = pServer->createService(SERVICE_UUID);
|
||||
|
||||
// Create a BLE Characteristic
|
||||
pCharacteristic = pService->createCharacteristic(
|
||||
CHARACTERISTIC_UUID,
|
||||
BLECharacteristic::PROPERTY_READ |
|
||||
BLECharacteristic::PROPERTY_WRITE |
|
||||
BLECharacteristic::PROPERTY_NOTIFY |
|
||||
BLECharacteristic::PROPERTY_INDICATE
|
||||
);
|
||||
|
||||
// https://www.bluetooth.com/specifications/gatt/viewer?attributeXmlFile=org.bluetooth.descriptor.gatt.client_characteristic_configuration.xml
|
||||
// Create a BLE Descriptor
|
||||
pCharacteristic->addDescriptor(new BLE2902());
|
||||
|
||||
// Start the service
|
||||
pService->start();
|
||||
|
||||
// Start advertising
|
||||
BLEAdvertising *pAdvertising = BLEDevice::getAdvertising();
|
||||
pAdvertising->addServiceUUID(SERVICE_UUID);
|
||||
pAdvertising->setScanResponse(false);
|
||||
pAdvertising->setMinPreferred(0x0); // set value to 0x00 to not advertise this parameter
|
||||
BLEDevice::startAdvertising();
|
||||
Serial.println("Waiting a client connection to notify...");
|
||||
|
||||
while (!Serial); // wait for Leonardo enumeration, others continue immediately
|
||||
|
||||
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
|
||||
// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
|
||||
// the baud timing being too misaligned with processor ticks. You must use
|
||||
// 38400 or slower in these cases, or use some kind of external separate
|
||||
// crystal solution for the UART timer.
|
||||
|
||||
// initialize device
|
||||
Serial.println(F("Initializing I2C devices..."));
|
||||
mpu.initialize();
|
||||
pinMode(INTERRUPT_PIN, INPUT_PULLUP);
|
||||
|
||||
// verify connection
|
||||
Serial.println(F("Testing device connections..."));
|
||||
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
|
||||
|
||||
// wait for ready
|
||||
// Serial.println(F("\nSend any character to begin DMP programming and demo: "));
|
||||
// while (Serial.available() && Serial.read()); // empty buffer
|
||||
// while (!Serial.available()); // wait for data
|
||||
// while (Serial.available() && Serial.read()); // empty buffer again
|
||||
|
||||
// load and configure the DMP
|
||||
Serial.println(F("Initializing DMP..."));
|
||||
devStatus = mpu.dmpInitialize();
|
||||
|
||||
// make sure it worked (returns 0 if so)
|
||||
if (devStatus == 0) {
|
||||
// Calibration Time: generate offsets and calibrate our MPU6050
|
||||
mpu.CalibrateAccel(6);
|
||||
mpu.CalibrateGyro(6);
|
||||
mpu.PrintActiveOffsets();
|
||||
// turn on the DMP, now that it's ready
|
||||
Serial.println(F("Enabling DMP..."));
|
||||
mpu.setDMPEnabled(true);
|
||||
|
||||
// enable Arduino interrupt detection
|
||||
Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
|
||||
Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
|
||||
Serial.println(F(")..."));
|
||||
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
|
||||
mpuIntStatus = mpu.getIntStatus();
|
||||
|
||||
// set our DMP Ready flag so the main loop() function knows it's okay to use it
|
||||
Serial.println(F("DMP ready! Waiting for first interrupt..."));
|
||||
dmpReady = true;
|
||||
|
||||
// get expected DMP packet size for later comparison
|
||||
packetSize = mpu.dmpGetFIFOPacketSize();
|
||||
} else {
|
||||
// ERROR!
|
||||
// 1 = initial memory load failed
|
||||
// 2 = DMP configuration updates failed
|
||||
// (if it's going to break, usually the code will be 1)
|
||||
Serial.print(F("DMP Initialization failed (code "));
|
||||
Serial.print(devStatus);
|
||||
Serial.println(F(")"));
|
||||
}
|
||||
|
||||
// configure LED for output
|
||||
pinMode(LED_PIN, OUTPUT);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === MAIN PROGRAM LOOP ===
|
||||
// ================================================================
|
||||
|
||||
void loop() {
|
||||
// if programming failed, don't try to do anything
|
||||
if (!dmpReady) return;
|
||||
|
||||
// wait for MPU interrupt or extra packet(s) available
|
||||
while (!mpuInterrupt && fifoCount < packetSize) {
|
||||
if (mpuInterrupt && fifoCount < packetSize) {
|
||||
// try to get out of the infinite loop
|
||||
fifoCount = mpu.getFIFOCount();
|
||||
}
|
||||
// other program behavior stuff here
|
||||
// .
|
||||
// .
|
||||
// .
|
||||
// if you are really paranoid you can frequently test in between other
|
||||
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
|
||||
// while() loop to immediately process the MPU data
|
||||
// .
|
||||
// .
|
||||
// .
|
||||
}
|
||||
|
||||
// reset interrupt flag and get INT_STATUS byte
|
||||
mpuInterrupt = false;
|
||||
mpuIntStatus = mpu.getIntStatus();
|
||||
|
||||
// get current FIFO count
|
||||
fifoCount = mpu.getFIFOCount();
|
||||
if(fifoCount < packetSize){
|
||||
//Lets go back and wait for another interrupt. We shouldn't be here, we got an interrupt from another event
|
||||
// This is blocking so don't do it while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
|
||||
}
|
||||
// check for overflow (this should never happen unless our code is too inefficient)
|
||||
else if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
|
||||
// reset so we can continue cleanly
|
||||
mpu.resetFIFO();
|
||||
// fifoCount = mpu.getFIFOCount(); // will be zero after reset no need to ask
|
||||
Serial.println(F("FIFO overflow!"));
|
||||
|
||||
// otherwise, check for DMP data ready interrupt (this should happen frequently)
|
||||
} else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
|
||||
|
||||
// read a packet from FIFO
|
||||
while(fifoCount >= packetSize){ // Lets catch up to NOW, someone is using the dreaded delay()!
|
||||
mpu.getFIFOBytes(fifoBuffer, packetSize);
|
||||
// track FIFO count here in case there is > 1 packet available
|
||||
// (this lets us immediately read more without waiting for an interrupt)
|
||||
fifoCount -= packetSize;
|
||||
}
|
||||
#ifdef OUTPUT_READABLE_QUATERNION
|
||||
// display quaternion values in easy matrix form: w x y z
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
Serial.print("quat\t");
|
||||
Serial.print(q.w);
|
||||
Serial.print("\t");
|
||||
Serial.print(q.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(q.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(q.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_EULER
|
||||
// display Euler angles in degrees
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetEuler(euler, &q);
|
||||
Serial.print("euler\t");
|
||||
Serial.print(euler[0] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.print(euler[1] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.println(euler[2] * 180/M_PI);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_YAWPITCHROLL
|
||||
// display Euler angles in degrees
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
|
||||
Serial.print("ypr\t");
|
||||
Serial.print(ypr[0] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.print(ypr[1] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.println(ypr[2] * 180/M_PI);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_REALACCEL
|
||||
// display real acceleration, adjusted to remove gravity
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetAccel(&aa, fifoBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
|
||||
Serial.print("areal\t");
|
||||
Serial.print(aaReal.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(aaReal.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(aaReal.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_WORLDACCEL
|
||||
// display initial world-frame acceleration, adjusted to remove gravity
|
||||
// and rotated based on known orientation from quaternion
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetAccel(&aa, fifoBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
|
||||
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
|
||||
Serial.print("aworld\t");
|
||||
Serial.print(aaWorld.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(aaWorld.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(aaWorld.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_TEAPOT
|
||||
// display quaternion values in InvenSense Teapot demo format:
|
||||
teapotPacket[2] = fifoBuffer[0];
|
||||
teapotPacket[3] = fifoBuffer[1];
|
||||
teapotPacket[4] = fifoBuffer[4];
|
||||
teapotPacket[5] = fifoBuffer[5];
|
||||
teapotPacket[6] = fifoBuffer[8];
|
||||
teapotPacket[7] = fifoBuffer[9];
|
||||
teapotPacket[8] = fifoBuffer[12];
|
||||
teapotPacket[9] = fifoBuffer[13];
|
||||
Serial.write(teapotPacket, 14);
|
||||
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
|
||||
#endif
|
||||
|
||||
// blink LED to indicate activity
|
||||
blinkState = !blinkState;
|
||||
digitalWrite(LED_PIN, blinkState);
|
||||
}
|
||||
|
||||
// notify changed value
|
||||
if (deviceConnected) {
|
||||
|
||||
//Serial.print(euler[0] * 180/M_PI);
|
||||
// Serial.print("\t");
|
||||
// Serial.print(euler[1] * 180/M_PI);
|
||||
// Serial.print("\t");
|
||||
// Serial.println(euler[2] * 180/M_PI);
|
||||
String temp = "";
|
||||
temp += euler[0] * 180/M_PI;
|
||||
temp += ",";
|
||||
temp += euler[1] * 180/M_PI;
|
||||
temp += ",";
|
||||
temp += euler[2] * 180/M_PI;
|
||||
|
||||
|
||||
pCharacteristic->setValue((char*)temp.c_str());
|
||||
pCharacteristic->notify();
|
||||
|
||||
delay(10); // bluetooth stack will go into congestion, if too many packets are sent, in 6 hours test i was able to go as low as 3ms
|
||||
}
|
||||
// disconnecting
|
||||
if (!deviceConnected && oldDeviceConnected) {
|
||||
delay(500); // give the bluetooth stack the chance to get things ready
|
||||
pServer->startAdvertising(); // restart advertising
|
||||
Serial.println("start advertising");
|
||||
oldDeviceConnected = deviceConnected;
|
||||
}
|
||||
// connecting
|
||||
if (deviceConnected && !oldDeviceConnected) {
|
||||
// do stuff here on connecting
|
||||
oldDeviceConnected = deviceConnected;
|
||||
}
|
||||
}
|
||||
615
Esp32_MPU6050_ble_FLUTTER/esp32_mpu6050_test/MPU6050_6Axis_MotionApps20.h
Executable file
615
Esp32_MPU6050_ble_FLUTTER/esp32_mpu6050_test/MPU6050_6Axis_MotionApps20.h
Executable file
@@ -0,0 +1,615 @@
|
||||
// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
|
||||
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
|
||||
// 5/20/2013 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Changelog:
|
||||
// 2019/07/08 - merged all DMP Firmware configuration items into the dmpMemory array
|
||||
// - Simplified dmpInitialize() to accomidate the dmpmemory array alterations
|
||||
// ... - ongoing debug release
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
|
||||
#define _MPU6050_6AXIS_MOTIONAPPS20_H_
|
||||
|
||||
#include "I2Cdev.h"
|
||||
#include "helper_3dmath.h"
|
||||
|
||||
// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
|
||||
#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
|
||||
|
||||
#include "MPU6050.h"
|
||||
|
||||
// Tom Carpenter's conditional PROGMEM code
|
||||
// http://forum.arduino.cc/index.php?topic=129407.0
|
||||
#ifdef __AVR__
|
||||
#include <avr/pgmspace.h>
|
||||
#else
|
||||
// Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
|
||||
#ifndef __PGMSPACE_H_
|
||||
#define __PGMSPACE_H_ 1
|
||||
#include <inttypes.h>
|
||||
|
||||
#define PROGMEM
|
||||
#define PGM_P const char *
|
||||
#define PSTR(str) (str)
|
||||
#define F(x) x
|
||||
|
||||
typedef void prog_void;
|
||||
typedef char prog_char;
|
||||
typedef unsigned char prog_uchar;
|
||||
// typedef int8_t prog_int8_t;
|
||||
// typedef uint8_t prog_uint8_t;
|
||||
// typedef int16_t prog_int16_t;
|
||||
// typedef uint16_t prog_uint16_t;
|
||||
// typedef int32_t prog_int32_t;
|
||||
// typedef uint32_t prog_uint32_t;
|
||||
|
||||
#define strcpy_P(dest, src) strcpy((dest), (src))
|
||||
#define strcat_P(dest, src) strcat((dest), (src))
|
||||
#define strcmp_P(a, b) strcmp((a), (b))
|
||||
|
||||
#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
|
||||
#define pgm_read_word(addr) (*(const unsigned short *)(addr))
|
||||
#define pgm_read_dword(addr) (*(const unsigned long *)(addr))
|
||||
#define pgm_read_float(addr) (*(const float *)(addr))
|
||||
|
||||
#define pgm_read_byte_near(addr) pgm_read_byte(addr)
|
||||
#define pgm_read_word_near(addr) pgm_read_word(addr)
|
||||
#define pgm_read_dword_near(addr) pgm_read_dword(addr)
|
||||
#define pgm_read_float_near(addr) pgm_read_float(addr)
|
||||
#define pgm_read_byte_far(addr) pgm_read_byte(addr)
|
||||
#define pgm_read_word_far(addr) pgm_read_word(addr)
|
||||
#define pgm_read_dword_far(addr) pgm_read_dword(addr)
|
||||
#define pgm_read_float_far(addr) pgm_read_float(addr)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/* Source is from the InvenSense MotionApps v2 demo code. Original source is
|
||||
* unavailable, unless you happen to be amazing as decompiling binary by
|
||||
* hand (in which case, please contact me, and I'm totally serious).
|
||||
*
|
||||
* Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
|
||||
* DMP reverse-engineering he did to help make this bit of wizardry
|
||||
* possible.
|
||||
*/
|
||||
|
||||
// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
|
||||
// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
|
||||
// after moving string constants to flash memory storage using the F()
|
||||
// compiler macro (Arduino IDE 1.0+ required).
|
||||
|
||||
//#define DEBUG
|
||||
#ifdef DEBUG
|
||||
#define DEBUG_PRINT(x) Serial.print(x)
|
||||
#define DEBUG_PRINTF(x, y) Serial.print(x, y)
|
||||
#define DEBUG_PRINTLN(x) Serial.println(x)
|
||||
#define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
|
||||
#else
|
||||
#define DEBUG_PRINT(x)
|
||||
#define DEBUG_PRINTF(x, y)
|
||||
#define DEBUG_PRINTLN(x)
|
||||
#define DEBUG_PRINTLNF(x, y)
|
||||
#endif
|
||||
|
||||
#define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
|
||||
#define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
|
||||
#define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
|
||||
|
||||
/* ================================================================================================ *
|
||||
| Default MotionApps v2.0 42-byte FIFO packet structure: |
|
||||
| |
|
||||
| [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
|
||||
| 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
|
||||
| |
|
||||
| [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
|
||||
| 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 |
|
||||
* ================================================================================================ */
|
||||
|
||||
// this block of memory gets written to the MPU on start-up, and it seems
|
||||
// to be volatile memory, so it has to be done each time (it only takes ~1
|
||||
// second though)
|
||||
|
||||
// I Only Changed this by applying all the configuration data and capturing it before startup:
|
||||
// *** this is a capture of the DMP Firmware after all the messy changes were made so we can just load it
|
||||
const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
|
||||
/* bank # 0 */
|
||||
0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
|
||||
0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
|
||||
0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x40, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCB, 0x47, 0xA2, 0x20, 0x00, 0x00, 0x00,
|
||||
0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
|
||||
0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
|
||||
0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
|
||||
0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
|
||||
0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
|
||||
/* bank # 1 */
|
||||
0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
|
||||
0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
|
||||
0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x09, 0x23, 0xA1, 0x35, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
|
||||
0x80, 0x00, 0xFF, 0xFF, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00,
|
||||
0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
|
||||
/* bank # 2 */
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x01, 0x00, 0x05, 0x8B, 0xC1, 0x00, 0x00, 0x01, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
/* bank # 3 */
|
||||
0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
|
||||
0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
|
||||
0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
|
||||
0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
|
||||
0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
|
||||
0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
|
||||
0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
|
||||
0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0x4C, 0xCD, 0x6C, 0xA9, 0x0C,
|
||||
0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
|
||||
0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
|
||||
0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
|
||||
0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
|
||||
0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
|
||||
0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
|
||||
0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
|
||||
0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
|
||||
/* bank # 4 */
|
||||
0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
|
||||
0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
|
||||
0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
|
||||
0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
|
||||
0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
|
||||
0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
|
||||
0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
|
||||
0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
|
||||
0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
|
||||
0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
|
||||
0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
|
||||
0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
|
||||
/* bank # 5 */
|
||||
0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
|
||||
0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
|
||||
0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
|
||||
0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
|
||||
0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
|
||||
0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
|
||||
0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
|
||||
0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
|
||||
0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
|
||||
0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
|
||||
0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
|
||||
0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
|
||||
0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
|
||||
0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
|
||||
0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
|
||||
0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
|
||||
/* bank # 6 */
|
||||
0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
|
||||
0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
|
||||
0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
|
||||
0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
|
||||
0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
|
||||
0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
|
||||
0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
|
||||
0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
|
||||
0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
|
||||
0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
|
||||
0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
|
||||
0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
|
||||
0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
|
||||
0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
|
||||
0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
|
||||
0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
|
||||
/* bank # 7 */
|
||||
0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
|
||||
0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
|
||||
0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
|
||||
0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
|
||||
0xDD, 0xF1, 0x20, 0x28, 0x30, 0x38, 0x9A, 0xF1, 0x28, 0x30, 0x38, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0x28, 0x30, 0x38,
|
||||
0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0x30, 0xDC,
|
||||
0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xFE, 0xD8, 0xFF,
|
||||
|
||||
};
|
||||
|
||||
#ifndef MPU6050_DMP_FIFO_RATE_DIVISOR
|
||||
#define MPU6050_DMP_FIFO_RATE_DIVISOR 0x01 // The New instance of the Firmware has this as the default
|
||||
#endif
|
||||
|
||||
// I Simplified this:
|
||||
uint8_t MPU6050::dmpInitialize() {
|
||||
// reset device
|
||||
DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
|
||||
reset();
|
||||
delay(30); // wait after reset
|
||||
|
||||
// enable sleep mode and wake cycle
|
||||
/*Serial.println(F("Enabling sleep mode..."));
|
||||
setSleepEnabled(true);
|
||||
Serial.println(F("Enabling wake cycle..."));
|
||||
setWakeCycleEnabled(true);*/
|
||||
|
||||
// disable sleep mode
|
||||
setSleepEnabled(false);
|
||||
|
||||
// get MPU hardware revision
|
||||
setMemoryBank(0x10, true, true);
|
||||
setMemoryStartAddress(0x06);
|
||||
Serial.println(F("Checking hardware revision..."));
|
||||
Serial.print(F("Revision @ user[16][6] = "));
|
||||
Serial.println(readMemoryByte(), HEX);
|
||||
Serial.println(F("Resetting memory bank selection to 0..."));
|
||||
setMemoryBank(0, false, false);
|
||||
|
||||
// check OTP bank valid
|
||||
DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
|
||||
DEBUG_PRINT(F("OTP bank is "));
|
||||
DEBUG_PRINTLN(getOTPBankValid() ? F("valid!") : F("invalid!"));
|
||||
|
||||
// setup weird slave stuff (?)
|
||||
DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
|
||||
setSlaveAddress(0, 0x7F);
|
||||
DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
|
||||
setI2CMasterModeEnabled(false);
|
||||
DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
|
||||
setSlaveAddress(0, 0x68);
|
||||
DEBUG_PRINTLN(F("Resetting I2C Master control..."));
|
||||
resetI2CMaster();
|
||||
delay(20);
|
||||
DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
|
||||
setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
|
||||
setIntEnabled(1<<MPU6050_INTERRUPT_FIFO_OFLOW_BIT|1<<MPU6050_INTERRUPT_DMP_INT_BIT);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
|
||||
setRate(4); // 1khz / (1 + 4) = 200 Hz
|
||||
|
||||
DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
|
||||
setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
|
||||
setDLPFMode(MPU6050_DLPF_BW_42);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
|
||||
setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
|
||||
|
||||
// load DMP code into memory banks
|
||||
DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
|
||||
DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
|
||||
DEBUG_PRINTLN(F(" bytes)"));
|
||||
if (!writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) return 1; // Failed
|
||||
DEBUG_PRINTLN(F("Success! DMP code written and verified."));
|
||||
|
||||
// Set the FIFO Rate Divisor int the DMP Firmware Memory
|
||||
unsigned char dmpUpdate[] = {0x00, MPU6050_DMP_FIFO_RATE_DIVISOR};
|
||||
writeMemoryBlock(dmpUpdate, 0x02, 0x02, 0x16); // Lets write the dmpUpdate data to the Firmware image, we have 2 bytes to write in bank 0x02 with the Offset 0x16
|
||||
|
||||
//write start address MSB into register
|
||||
setDMPConfig1(0x03);
|
||||
//write start address LSB into register
|
||||
setDMPConfig2(0x00);
|
||||
|
||||
DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
|
||||
setOTPBankValid(false);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
|
||||
setMotionDetectionThreshold(2);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
|
||||
setZeroMotionDetectionThreshold(156);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
|
||||
setMotionDetectionDuration(80);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
|
||||
setZeroMotionDetectionDuration(0);
|
||||
DEBUG_PRINTLN(F("Enabling FIFO..."));
|
||||
setFIFOEnabled(true);
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting DMP..."));
|
||||
resetDMP();
|
||||
|
||||
DEBUG_PRINTLN(F("DMP is good to go! Finally."));
|
||||
|
||||
DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
|
||||
setDMPEnabled(false);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
|
||||
dmpPacketSize = 42;
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
|
||||
resetFIFO();
|
||||
getIntStatus();
|
||||
|
||||
return 0; // success
|
||||
}
|
||||
// Nothing else changed
|
||||
|
||||
bool MPU6050::dmpPacketAvailable() {
|
||||
return getFIFOCount() >= dmpGetFIFOPacketSize();
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
|
||||
// uint8_t MPU6050::dmpGetFIFORate();
|
||||
// uint8_t MPU6050::dmpGetSampleStepSizeMS();
|
||||
// uint8_t MPU6050::dmpGetSampleFrequency();
|
||||
// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
//uint8_t MPU6050::dmpRunFIFORateProcesses();
|
||||
|
||||
// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (((uint32_t)packet[28] << 24) | ((uint32_t)packet[29] << 16) | ((uint32_t)packet[30] << 8) | packet[31]);
|
||||
data[1] = (((uint32_t)packet[32] << 24) | ((uint32_t)packet[33] << 16) | ((uint32_t)packet[34] << 8) | packet[35]);
|
||||
data[2] = (((uint32_t)packet[36] << 24) | ((uint32_t)packet[37] << 16) | ((uint32_t)packet[38] << 8) | packet[39]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[28] << 8) | packet[29];
|
||||
data[1] = (packet[32] << 8) | packet[33];
|
||||
data[2] = (packet[36] << 8) | packet[37];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
v -> x = (packet[28] << 8) | packet[29];
|
||||
v -> y = (packet[32] << 8) | packet[33];
|
||||
v -> z = (packet[36] << 8) | packet[37];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (((uint32_t)packet[0] << 24) | ((uint32_t)packet[1] << 16) | ((uint32_t)packet[2] << 8) | packet[3]);
|
||||
data[1] = (((uint32_t)packet[4] << 24) | ((uint32_t)packet[5] << 16) | ((uint32_t)packet[6] << 8) | packet[7]);
|
||||
data[2] = (((uint32_t)packet[8] << 24) | ((uint32_t)packet[9] << 16) | ((uint32_t)packet[10] << 8) | packet[11]);
|
||||
data[3] = (((uint32_t)packet[12] << 24) | ((uint32_t)packet[13] << 16) | ((uint32_t)packet[14] << 8) | packet[15]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[0] << 8) | packet[1]);
|
||||
data[1] = ((packet[4] << 8) | packet[5]);
|
||||
data[2] = ((packet[8] << 8) | packet[9]);
|
||||
data[3] = ((packet[12] << 8) | packet[13]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
int16_t qI[4];
|
||||
uint8_t status = dmpGetQuaternion(qI, packet);
|
||||
if (status == 0) {
|
||||
q -> w = (float)qI[0] / 16384.0f;
|
||||
q -> x = (float)qI[1] / 16384.0f;
|
||||
q -> y = (float)qI[2] / 16384.0f;
|
||||
q -> z = (float)qI[3] / 16384.0f;
|
||||
return 0;
|
||||
}
|
||||
return status; // int16 return value, indicates error if this line is reached
|
||||
}
|
||||
// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (((uint32_t)packet[16] << 24) | ((uint32_t)packet[17] << 16) | ((uint32_t)packet[18] << 8) | packet[19]);
|
||||
data[1] = (((uint32_t)packet[20] << 24) | ((uint32_t)packet[21] << 16) | ((uint32_t)packet[22] << 8) | packet[23]);
|
||||
data[2] = (((uint32_t)packet[24] << 24) | ((uint32_t)packet[25] << 16) | ((uint32_t)packet[26] << 8) | packet[27]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[16] << 8) | packet[17];
|
||||
data[1] = (packet[20] << 8) | packet[21];
|
||||
data[2] = (packet[24] << 8) | packet[25];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetGyro(VectorInt16 *v, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
v -> x = (packet[16] << 8) | packet[17];
|
||||
v -> y = (packet[20] << 8) | packet[21];
|
||||
v -> z = (packet[24] << 8) | packet[25];
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
|
||||
// get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g)
|
||||
v -> x = vRaw -> x - gravity -> x*8192;
|
||||
v -> y = vRaw -> y - gravity -> y*8192;
|
||||
v -> z = vRaw -> z - gravity -> z*8192;
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
|
||||
// rotate measured 3D acceleration vector into original state
|
||||
// frame of reference based on orientation quaternion
|
||||
memcpy(v, vReal, sizeof(VectorInt16));
|
||||
v -> rotate(q);
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
|
||||
/* +1g corresponds to +8192, sensitivity is 2g. */
|
||||
int16_t qI[4];
|
||||
uint8_t status = dmpGetQuaternion(qI, packet);
|
||||
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
|
||||
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
|
||||
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
|
||||
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
|
||||
return status;
|
||||
}
|
||||
|
||||
uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
|
||||
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
|
||||
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
|
||||
v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
|
||||
|
||||
uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); // psi
|
||||
data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y); // theta
|
||||
data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1); // phi
|
||||
return 0;
|
||||
}
|
||||
|
||||
#ifdef USE_OLD_DMPGETYAWPITCHROLL
|
||||
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
|
||||
// yaw: (about Z axis)
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
|
||||
// pitch: (nose up/down, about Y axis)
|
||||
data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
|
||||
// roll: (tilt left/right, about X axis)
|
||||
data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
|
||||
return 0;
|
||||
}
|
||||
#else
|
||||
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
|
||||
// yaw: (about Z axis)
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
|
||||
// pitch: (nose up/down, about Y axis)
|
||||
data[1] = atan2(gravity -> x , sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
|
||||
// roll: (tilt left/right, about X axis)
|
||||
data[2] = atan2(gravity -> y , gravity -> z);
|
||||
if (gravity -> z < 0) {
|
||||
if(data[1] > 0) {
|
||||
data[1] = PI - data[1];
|
||||
} else {
|
||||
data[1] = -PI - data[1];
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
|
||||
|
||||
uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
|
||||
/*for (uint8_t k = 0; k < dmpPacketSize; k++) {
|
||||
if (dmpData[k] < 0x10) Serial.print("0");
|
||||
Serial.print(dmpData[k], HEX);
|
||||
Serial.print(" ");
|
||||
}
|
||||
Serial.print("\n");*/
|
||||
//Serial.println((uint16_t)dmpPacketBuffer);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
|
||||
uint8_t status;
|
||||
uint8_t buf[dmpPacketSize];
|
||||
for (uint8_t i = 0; i < numPackets; i++) {
|
||||
// read packet from FIFO
|
||||
getFIFOBytes(buf, dmpPacketSize);
|
||||
|
||||
// process packet
|
||||
if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
|
||||
|
||||
// increment external process count variable, if supplied
|
||||
if (processed != 0) (*processed)++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
|
||||
|
||||
// uint8_t MPU6050::dmpInitFIFOParam();
|
||||
// uint8_t MPU6050::dmpCloseFIFO();
|
||||
// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
|
||||
// uint8_t MPU6050::dmpDecodeQuantizedAccel();
|
||||
// uint32_t MPU6050::dmpGetGyroSumOfSquare();
|
||||
// uint32_t MPU6050::dmpGetAccelSumOfSquare();
|
||||
// void MPU6050::dmpOverrideQuaternion(long *q);
|
||||
uint16_t MPU6050::dmpGetFIFOPacketSize() {
|
||||
return dmpPacketSize;
|
||||
}
|
||||
|
||||
#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
|
||||
@@ -0,0 +1,403 @@
|
||||
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
|
||||
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Changelog:
|
||||
// 2019-07-08 - Added Auto Calibration and offset generator
|
||||
// - and altered FIFO retrieval sequence to avoid using blocking code
|
||||
// 2016-04-18 - Eliminated a potential infinite loop
|
||||
// 2013-05-08 - added seamless Fastwire support
|
||||
// - added note about gyro calibration
|
||||
// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
|
||||
// 2012-06-20 - improved FIFO overflow handling and simplified read process
|
||||
// 2012-06-19 - completely rearranged DMP initialization code and simplification
|
||||
// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
|
||||
// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
|
||||
// 2012-06-05 - add gravity-compensated initial reference frame acceleration output
|
||||
// - add 3D math helper file to DMP6 example sketch
|
||||
// - add Euler output and Yaw/Pitch/Roll output formats
|
||||
// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
|
||||
// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
|
||||
// 2012-05-30 - basic DMP initialization working
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
|
||||
// for both classes must be in the include path of your project
|
||||
#include "I2Cdev.h"
|
||||
|
||||
#include "MPU6050_6Axis_MotionApps20.h"
|
||||
//#include "MPU6050.h" // not necessary if using MotionApps include file
|
||||
|
||||
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
|
||||
// is used in I2Cdev.h
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
||||
#include "Wire.h"
|
||||
#endif
|
||||
|
||||
// class default I2C address is 0x68
|
||||
// specific I2C addresses may be passed as a parameter here
|
||||
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
|
||||
// AD0 high = 0x69
|
||||
MPU6050 mpu;
|
||||
//MPU6050 mpu(0x69); // <-- use for AD0 high
|
||||
|
||||
/* =========================================================================
|
||||
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
|
||||
depends on the MPU-6050's INT pin being connected to the Arduino's
|
||||
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
|
||||
digital I/O pin 2.
|
||||
* ========================================================================= */
|
||||
|
||||
/* =========================================================================
|
||||
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
|
||||
when using Serial.write(buf, len). The Teapot output uses this method.
|
||||
The solution requires a modification to the Arduino USBAPI.h file, which
|
||||
is fortunately simple, but annoying. This will be fixed in the next IDE
|
||||
release. For more info, see these links:
|
||||
|
||||
http://arduino.cc/forum/index.php/topic,109987.0.html
|
||||
http://code.google.com/p/arduino/issues/detail?id=958
|
||||
* ========================================================================= */
|
||||
|
||||
|
||||
|
||||
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
|
||||
// quaternion components in a [w, x, y, z] format (not best for parsing
|
||||
// on a remote host such as Processing or something though)
|
||||
//#define OUTPUT_READABLE_QUATERNION
|
||||
|
||||
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
|
||||
// (in degrees) calculated from the quaternions coming from the FIFO.
|
||||
// Note that Euler angles suffer from gimbal lock (for more info, see
|
||||
// http://en.wikipedia.org/wiki/Gimbal_lock)
|
||||
//#define OUTPUT_READABLE_EULER
|
||||
|
||||
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
|
||||
// pitch/roll angles (in degrees) calculated from the quaternions coming
|
||||
// from the FIFO. Note this also requires gravity vector calculations.
|
||||
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
|
||||
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
|
||||
#define OUTPUT_READABLE_YAWPITCHROLL
|
||||
|
||||
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
|
||||
// components with gravity removed. This acceleration reference frame is
|
||||
// not compensated for orientation, so +X is always +X according to the
|
||||
// sensor, just without the effects of gravity. If you want acceleration
|
||||
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
|
||||
//#define OUTPUT_READABLE_REALACCEL
|
||||
|
||||
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
|
||||
// components with gravity removed and adjusted for the world frame of
|
||||
// reference (yaw is relative to initial orientation, since no magnetometer
|
||||
// is present in this case). Could be quite handy in some cases.
|
||||
//#define OUTPUT_READABLE_WORLDACCEL
|
||||
|
||||
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
|
||||
// format used for the InvenSense teapot demo
|
||||
//#define OUTPUT_TEAPOT
|
||||
|
||||
|
||||
|
||||
#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
|
||||
#define LED_PIN 22 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
|
||||
#define SDA 0
|
||||
#define SCL 4
|
||||
bool blinkState = false;
|
||||
|
||||
// MPU control/status vars
|
||||
bool dmpReady = false; // set true if DMP init was successful
|
||||
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
|
||||
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
|
||||
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
|
||||
uint16_t fifoCount; // count of all bytes currently in FIFO
|
||||
uint8_t fifoBuffer[64]; // FIFO storage buffer
|
||||
|
||||
// orientation/motion vars
|
||||
Quaternion q; // [w, x, y, z] quaternion container
|
||||
VectorInt16 aa; // [x, y, z] accel sensor measurements
|
||||
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
|
||||
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
|
||||
VectorFloat gravity; // [x, y, z] gravity vector
|
||||
float euler[3]; // [psi, theta, phi] Euler angle container
|
||||
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
|
||||
|
||||
// packet structure for InvenSense teapot demo
|
||||
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === INTERRUPT DETECTION ROUTINE ===
|
||||
// ================================================================
|
||||
|
||||
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
|
||||
void dmpDataReady() {
|
||||
mpuInterrupt = true;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === INITIAL SETUP ===
|
||||
// ================================================================
|
||||
|
||||
void setup() {
|
||||
// join I2C bus (I2Cdev library doesn't do this automatically)
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
||||
//Wire.begin();
|
||||
//Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
|
||||
Wire.begin(SDA, SCL, 400000);
|
||||
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
|
||||
Fastwire::setup(400, true);
|
||||
#endif
|
||||
|
||||
// initialize serial communication
|
||||
// (115200 chosen because it is required for Teapot Demo output, but it's
|
||||
// really up to you depending on your project)
|
||||
Serial.begin(115200);
|
||||
while (!Serial); // wait for Leonardo enumeration, others continue immediately
|
||||
|
||||
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
|
||||
// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
|
||||
// the baud timing being too misaligned with processor ticks. You must use
|
||||
// 38400 or slower in these cases, or use some kind of external separate
|
||||
// crystal solution for the UART timer.
|
||||
|
||||
// initialize device
|
||||
Serial.println(F("Initializing I2C devices..."));
|
||||
mpu.initialize();
|
||||
pinMode(INTERRUPT_PIN, INPUT_PULLUP);
|
||||
|
||||
// verify connection
|
||||
Serial.println(F("Testing device connections..."));
|
||||
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
|
||||
|
||||
// wait for ready
|
||||
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
|
||||
while (Serial.available() && Serial.read()); // empty buffer
|
||||
while (!Serial.available()); // wait for data
|
||||
while (Serial.available() && Serial.read()); // empty buffer again
|
||||
|
||||
// load and configure the DMP
|
||||
Serial.println(F("Initializing DMP..."));
|
||||
devStatus = mpu.dmpInitialize();
|
||||
|
||||
|
||||
//14:58:29.266 -> // X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro
|
||||
//14:58:29.266 -> //OFFSETS -62, -1213, 812, -106, -25, 21
|
||||
|
||||
//15:01:34.734 -> // X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro
|
||||
//15:01:34.734 -> //OFFSETS -316, -2705, 1170, -202, -14, 90
|
||||
|
||||
// supply your own gyro offsets here, scaled for min sensitivity
|
||||
|
||||
// mpu.setXAccelOffset(-62);
|
||||
// mpu.setYAccelOffset(-1213);
|
||||
// mpu.setZAccelOffset(812);
|
||||
// mpu.setXGyroOffset(-106);
|
||||
// mpu.setYGyroOffset(-25);
|
||||
// mpu.setZGyroOffset(21);
|
||||
|
||||
|
||||
// make sure it worked (returns 0 if so)
|
||||
if (devStatus == 0) {
|
||||
// Calibration Time: generate offsets and calibrate our MPU6050
|
||||
mpu.CalibrateAccel(6);
|
||||
mpu.CalibrateGyro(6);
|
||||
mpu.PrintActiveOffsets();
|
||||
// turn on the DMP, now that it's ready
|
||||
Serial.println(F("Enabling DMP..."));
|
||||
mpu.setDMPEnabled(true);
|
||||
|
||||
// enable Arduino interrupt detection
|
||||
Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
|
||||
Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
|
||||
Serial.println(F(")..."));
|
||||
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
|
||||
mpuIntStatus = mpu.getIntStatus();
|
||||
|
||||
// set our DMP Ready flag so the main loop() function knows it's okay to use it
|
||||
Serial.println(F("DMP ready! Waiting for first interrupt..."));
|
||||
dmpReady = true;
|
||||
|
||||
// get expected DMP packet size for later comparison
|
||||
packetSize = mpu.dmpGetFIFOPacketSize();
|
||||
} else {
|
||||
// ERROR!
|
||||
// 1 = initial memory load failed
|
||||
// 2 = DMP configuration updates failed
|
||||
// (if it's going to break, usually the code will be 1)
|
||||
Serial.print(F("DMP Initialization failed (code "));
|
||||
Serial.print(devStatus);
|
||||
Serial.println(F(")"));
|
||||
}
|
||||
|
||||
// configure LED for output
|
||||
pinMode(LED_PIN, OUTPUT);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === MAIN PROGRAM LOOP ===
|
||||
// ================================================================
|
||||
|
||||
void loop() {
|
||||
// if programming failed, don't try to do anything
|
||||
if (!dmpReady) return;
|
||||
|
||||
// wait for MPU interrupt or extra packet(s) available
|
||||
while (!mpuInterrupt && fifoCount < packetSize) {
|
||||
if (mpuInterrupt && fifoCount < packetSize) {
|
||||
// try to get out of the infinite loop
|
||||
fifoCount = mpu.getFIFOCount();
|
||||
}
|
||||
// other program behavior stuff here
|
||||
// .
|
||||
// .
|
||||
// .
|
||||
// if you are really paranoid you can frequently test in between other
|
||||
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
|
||||
// while() loop to immediately process the MPU data
|
||||
// .
|
||||
// .
|
||||
// .
|
||||
}
|
||||
|
||||
// reset interrupt flag and get INT_STATUS byte
|
||||
mpuInterrupt = false;
|
||||
mpuIntStatus = mpu.getIntStatus();
|
||||
|
||||
// get current FIFO count
|
||||
fifoCount = mpu.getFIFOCount();
|
||||
if(fifoCount < packetSize){
|
||||
//Lets go back and wait for another interrupt. We shouldn't be here, we got an interrupt from another event
|
||||
// This is blocking so don't do it while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
|
||||
}
|
||||
// check for overflow (this should never happen unless our code is too inefficient)
|
||||
else if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
|
||||
// reset so we can continue cleanly
|
||||
mpu.resetFIFO();
|
||||
// fifoCount = mpu.getFIFOCount(); // will be zero after reset no need to ask
|
||||
Serial.println(F("FIFO overflow!"));
|
||||
|
||||
// otherwise, check for DMP data ready interrupt (this should happen frequently)
|
||||
} else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
|
||||
|
||||
// read a packet from FIFO
|
||||
while(fifoCount >= packetSize){ // Lets catch up to NOW, someone is using the dreaded delay()!
|
||||
mpu.getFIFOBytes(fifoBuffer, packetSize);
|
||||
// track FIFO count here in case there is > 1 packet available
|
||||
// (this lets us immediately read more without waiting for an interrupt)
|
||||
fifoCount -= packetSize;
|
||||
}
|
||||
#ifdef OUTPUT_READABLE_QUATERNION
|
||||
// display quaternion values in easy matrix form: w x y z
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
Serial.print("quat\t");
|
||||
Serial.print(q.w);
|
||||
Serial.print("\t");
|
||||
Serial.print(q.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(q.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(q.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_EULER
|
||||
// display Euler angles in degrees
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetEuler(euler, &q);
|
||||
Serial.print("euler\t");
|
||||
Serial.print(euler[0] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.print(euler[1] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.println(euler[2] * 180/M_PI);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_YAWPITCHROLL
|
||||
// display Euler angles in degrees
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
|
||||
Serial.print("ypr\t");
|
||||
Serial.print(ypr[0] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.print(ypr[1] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.println(ypr[2] * 180/M_PI);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_REALACCEL
|
||||
// display real acceleration, adjusted to remove gravity
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetAccel(&aa, fifoBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
|
||||
Serial.print("areal\t");
|
||||
Serial.print(aaReal.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(aaReal.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(aaReal.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_WORLDACCEL
|
||||
// display initial world-frame acceleration, adjusted to remove gravity
|
||||
// and rotated based on known orientation from quaternion
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetAccel(&aa, fifoBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
|
||||
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
|
||||
Serial.print("aworld\t");
|
||||
Serial.print(aaWorld.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(aaWorld.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(aaWorld.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_TEAPOT
|
||||
// display quaternion values in InvenSense Teapot demo format:
|
||||
teapotPacket[2] = fifoBuffer[0];
|
||||
teapotPacket[3] = fifoBuffer[1];
|
||||
teapotPacket[4] = fifoBuffer[4];
|
||||
teapotPacket[5] = fifoBuffer[5];
|
||||
teapotPacket[6] = fifoBuffer[8];
|
||||
teapotPacket[7] = fifoBuffer[9];
|
||||
teapotPacket[8] = fifoBuffer[12];
|
||||
teapotPacket[9] = fifoBuffer[13];
|
||||
Serial.write(teapotPacket, 14);
|
||||
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
|
||||
#endif
|
||||
|
||||
// blink LED to indicate activity
|
||||
blinkState = !blinkState;
|
||||
digitalWrite(LED_PIN, blinkState);
|
||||
}
|
||||
}
|
||||
36
Esp32_MPU6050_ble_FLUTTER/flutter_app_esp32_ble_mpu6050/.gitignore
vendored
Normal file
36
Esp32_MPU6050_ble_FLUTTER/flutter_app_esp32_ble_mpu6050/.gitignore
vendored
Normal file
@@ -0,0 +1,36 @@
|
||||
# Miscellaneous
|
||||
*.class
|
||||
*.log
|
||||
*.pyc
|
||||
*.swp
|
||||
.DS_Store
|
||||
.atom/
|
||||
.buildlog/
|
||||
.history
|
||||
.svn/
|
||||
|
||||
# IntelliJ related
|
||||
*.iml
|
||||
*.ipr
|
||||
*.iws
|
||||
.idea/
|
||||
|
||||
# The .vscode folder contains launch configuration and tasks you configure in
|
||||
# VS Code which you may wish to be included in version control, so this line
|
||||
# is commented out by default.
|
||||
#.vscode/
|
||||
|
||||
# Flutter/Dart/Pub related
|
||||
**/doc/api/
|
||||
.dart_tool/
|
||||
.flutter-plugins
|
||||
.packages
|
||||
.pub-cache/
|
||||
.pub/
|
||||
/build/
|
||||
|
||||
# Web related
|
||||
lib/generated_plugin_registrant.dart
|
||||
|
||||
# Exceptions to above rules.
|
||||
!/packages/flutter_tools/test/data/dart_dependencies_test/**/.packages
|
||||
@@ -0,0 +1,10 @@
|
||||
# This file tracks properties of this Flutter project.
|
||||
# Used by Flutter tool to assess capabilities and perform upgrades etc.
|
||||
#
|
||||
# This file should be version controlled and should not be manually edited.
|
||||
|
||||
version:
|
||||
revision: e70236e36ce1d32067dc68eb55519ec3e14b6b01
|
||||
channel: dev
|
||||
|
||||
project_type: app
|
||||
1
Esp32_MPU6050_ble_FLUTTER/flutter_app_esp32_ble_mpu6050/Pods
Symbolic link
1
Esp32_MPU6050_ble_FLUTTER/flutter_app_esp32_ble_mpu6050/Pods
Symbolic link
@@ -0,0 +1 @@
|
||||
ios/Pods
|
||||
@@ -0,0 +1,16 @@
|
||||
# flutter_app_esp32_ble_mpu6050
|
||||
|
||||
A new Flutter application.
|
||||
|
||||
## Getting Started
|
||||
|
||||
This project is a starting point for a Flutter application.
|
||||
|
||||
A few resources to get you started if this is your first Flutter project:
|
||||
|
||||
- [Lab: Write your first Flutter app](https://flutter.dev/docs/get-started/codelab)
|
||||
- [Cookbook: Useful Flutter samples](https://flutter.dev/docs/cookbook)
|
||||
|
||||
For help getting started with Flutter, view our
|
||||
[online documentation](https://flutter.dev/docs), which offers tutorials,
|
||||
samples, guidance on mobile development, and a full API reference.
|
||||
7
Esp32_MPU6050_ble_FLUTTER/flutter_app_esp32_ble_mpu6050/android/.gitignore
vendored
Normal file
7
Esp32_MPU6050_ble_FLUTTER/flutter_app_esp32_ble_mpu6050/android/.gitignore
vendored
Normal file
@@ -0,0 +1,7 @@
|
||||
gradle-wrapper.jar
|
||||
/.gradle
|
||||
/captures/
|
||||
/gradlew
|
||||
/gradlew.bat
|
||||
/local.properties
|
||||
GeneratedPluginRegistrant.java
|
||||
@@ -0,0 +1,61 @@
|
||||
def localProperties = new Properties()
|
||||
def localPropertiesFile = rootProject.file('local.properties')
|
||||
if (localPropertiesFile.exists()) {
|
||||
localPropertiesFile.withReader('UTF-8') { reader ->
|
||||
localProperties.load(reader)
|
||||
}
|
||||
}
|
||||
|
||||
def flutterRoot = localProperties.getProperty('flutter.sdk')
|
||||
if (flutterRoot == null) {
|
||||
throw new GradleException("Flutter SDK not found. Define location with flutter.sdk in the local.properties file.")
|
||||
}
|
||||
|
||||
def flutterVersionCode = localProperties.getProperty('flutter.versionCode')
|
||||
if (flutterVersionCode == null) {
|
||||
flutterVersionCode = '1'
|
||||
}
|
||||
|
||||
def flutterVersionName = localProperties.getProperty('flutter.versionName')
|
||||
if (flutterVersionName == null) {
|
||||
flutterVersionName = '1.0'
|
||||
}
|
||||
|
||||
apply plugin: 'com.android.application'
|
||||
apply from: "$flutterRoot/packages/flutter_tools/gradle/flutter.gradle"
|
||||
|
||||
android {
|
||||
compileSdkVersion 28
|
||||
|
||||
lintOptions {
|
||||
disable 'InvalidPackage'
|
||||
}
|
||||
|
||||
defaultConfig {
|
||||
// TODO: Specify your own unique Application ID (https://developer.android.com/studio/build/application-id.html).
|
||||
applicationId "com.thatproject.flutter_app_esp32_ble_mpu6050"
|
||||
minSdkVersion 19
|
||||
targetSdkVersion 28
|
||||
versionCode flutterVersionCode.toInteger()
|
||||
versionName flutterVersionName
|
||||
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
|
||||
}
|
||||
|
||||
buildTypes {
|
||||
release {
|
||||
// TODO: Add your own signing config for the release build.
|
||||
// Signing with the debug keys for now, so `flutter run --release` works.
|
||||
signingConfig signingConfigs.debug
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
flutter {
|
||||
source '../..'
|
||||
}
|
||||
|
||||
dependencies {
|
||||
testImplementation 'junit:junit:4.12'
|
||||
androidTestImplementation 'androidx.test:runner:1.1.1'
|
||||
androidTestImplementation 'androidx.test.espresso:espresso-core:3.1.1'
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
||||
package="com.thatproject.flutter_app_esp32_ble_mpu6050">
|
||||
<!-- Flutter needs it to communicate with the running application
|
||||
to allow setting breakpoints, to provide hot reload, etc.
|
||||
-->
|
||||
<uses-permission android:name="android.permission.INTERNET"/>
|
||||
</manifest>
|
||||
@@ -0,0 +1,33 @@
|
||||
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
||||
package="com.thatproject.flutter_app_esp32_ble_mpu6050">
|
||||
|
||||
<!-- io.flutter.app.FlutterApplication is an android.app.Application that
|
||||
calls FlutterMain.startInitialization(this); in its onCreate method.
|
||||
In most cases you can leave this as-is, but you if you want to provide
|
||||
additional functionality it is fine to subclass or reimplement
|
||||
FlutterApplication and put your custom class here. -->
|
||||
<application
|
||||
android:name="io.flutter.app.FlutterApplication"
|
||||
android:label="flutter_app_esp32_ble_mpu6050"
|
||||
android:icon="@mipmap/ic_launcher">
|
||||
<activity
|
||||
android:name=".MainActivity"
|
||||
android:launchMode="singleTop"
|
||||
android:theme="@style/LaunchTheme"
|
||||
android:configChanges="orientation|keyboardHidden|keyboard|screenSize|locale|layoutDirection|fontScale|screenLayout|density|uiMode"
|
||||
android:hardwareAccelerated="true"
|
||||
android:windowSoftInputMode="adjustResize">
|
||||
<!-- This keeps the window background of the activity showing
|
||||
until Flutter renders its first frame. It can be removed if
|
||||
there is no splash screen (such as the default splash screen
|
||||
defined in @style/LaunchTheme). -->
|
||||
<meta-data
|
||||
android:name="io.flutter.app.android.SplashScreenUntilFirstFrame"
|
||||
android:value="true" />
|
||||
<intent-filter>
|
||||
<action android:name="android.intent.action.MAIN"/>
|
||||
<category android:name="android.intent.category.LAUNCHER"/>
|
||||
</intent-filter>
|
||||
</activity>
|
||||
</application>
|
||||
</manifest>
|
||||
@@ -0,0 +1,13 @@
|
||||
package com.thatproject.flutter_app_esp32_ble_mpu6050;
|
||||
|
||||
import android.os.Bundle;
|
||||
import io.flutter.app.FlutterActivity;
|
||||
import io.flutter.plugins.GeneratedPluginRegistrant;
|
||||
|
||||
public class MainActivity extends FlutterActivity {
|
||||
@Override
|
||||
protected void onCreate(Bundle savedInstanceState) {
|
||||
super.onCreate(savedInstanceState);
|
||||
GeneratedPluginRegistrant.registerWith(this);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- Modify this file to customize your launch splash screen -->
|
||||
<layer-list xmlns:android="http://schemas.android.com/apk/res/android">
|
||||
<item android:drawable="@android:color/white" />
|
||||
|
||||
<!-- You can insert your own image assets here -->
|
||||
<!-- <item>
|
||||
<bitmap
|
||||
android:gravity="center"
|
||||
android:src="@mipmap/launch_image" />
|
||||
</item> -->
|
||||
</layer-list>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 544 B |
Binary file not shown.
|
After Width: | Height: | Size: 442 B |
Binary file not shown.
|
After Width: | Height: | Size: 721 B |
Binary file not shown.
|
After Width: | Height: | Size: 1.0 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 1.4 KiB |
@@ -0,0 +1,8 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<resources>
|
||||
<style name="LaunchTheme" parent="@android:style/Theme.Black.NoTitleBar">
|
||||
<!-- Show a splash screen on the activity. Automatically removed when
|
||||
Flutter draws its first frame -->
|
||||
<item name="android:windowBackground">@drawable/launch_background</item>
|
||||
</style>
|
||||
</resources>
|
||||
@@ -0,0 +1,7 @@
|
||||
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
||||
package="com.thatproject.flutter_app_esp32_ble_mpu6050">
|
||||
<!-- Flutter needs it to communicate with the running application
|
||||
to allow setting breakpoints, to provide hot reload, etc.
|
||||
-->
|
||||
<uses-permission android:name="android.permission.INTERNET"/>
|
||||
</manifest>
|
||||
@@ -0,0 +1,29 @@
|
||||
buildscript {
|
||||
repositories {
|
||||
google()
|
||||
jcenter()
|
||||
}
|
||||
|
||||
dependencies {
|
||||
classpath 'com.android.tools.build:gradle:3.5.0'
|
||||
}
|
||||
}
|
||||
|
||||
allprojects {
|
||||
repositories {
|
||||
google()
|
||||
jcenter()
|
||||
}
|
||||
}
|
||||
|
||||
rootProject.buildDir = '../build'
|
||||
subprojects {
|
||||
project.buildDir = "${rootProject.buildDir}/${project.name}"
|
||||
}
|
||||
subprojects {
|
||||
project.evaluationDependsOn(':app')
|
||||
}
|
||||
|
||||
task clean(type: Delete) {
|
||||
delete rootProject.buildDir
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
org.gradle.jvmargs=-Xmx1536M
|
||||
android.enableR8=true
|
||||
android.useAndroidX=true
|
||||
android.enableJetifier=true
|
||||
@@ -0,0 +1,6 @@
|
||||
#Fri Jun 23 08:50:38 CEST 2017
|
||||
distributionBase=GRADLE_USER_HOME
|
||||
distributionPath=wrapper/dists
|
||||
zipStoreBase=GRADLE_USER_HOME
|
||||
zipStorePath=wrapper/dists
|
||||
distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.2-all.zip
|
||||
@@ -0,0 +1,15 @@
|
||||
include ':app'
|
||||
|
||||
def flutterProjectRoot = rootProject.projectDir.parentFile.toPath()
|
||||
|
||||
def plugins = new Properties()
|
||||
def pluginsFile = new File(flutterProjectRoot.toFile(), '.flutter-plugins')
|
||||
if (pluginsFile.exists()) {
|
||||
pluginsFile.withReader('UTF-8') { reader -> plugins.load(reader) }
|
||||
}
|
||||
|
||||
plugins.each { name, path ->
|
||||
def pluginDirectory = flutterProjectRoot.resolve(path).resolve('android').toFile()
|
||||
include ":$name"
|
||||
project(":$name").projectDir = pluginDirectory
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
31
Esp32_MPU6050_ble_FLUTTER/flutter_app_esp32_ble_mpu6050/ios/.gitignore
vendored
Normal file
31
Esp32_MPU6050_ble_FLUTTER/flutter_app_esp32_ble_mpu6050/ios/.gitignore
vendored
Normal file
@@ -0,0 +1,31 @@
|
||||
*.mode1v3
|
||||
*.mode2v3
|
||||
*.moved-aside
|
||||
*.pbxuser
|
||||
*.perspectivev3
|
||||
**/*sync/
|
||||
.sconsign.dblite
|
||||
.tags*
|
||||
**/.vagrant/
|
||||
**/DerivedData/
|
||||
Icon?
|
||||
**/Pods/
|
||||
**/.symlinks/
|
||||
profile
|
||||
xcuserdata
|
||||
**/.generated/
|
||||
Flutter/App.framework
|
||||
Flutter/Flutter.framework
|
||||
Flutter/Generated.xcconfig
|
||||
Flutter/app.flx
|
||||
Flutter/app.zip
|
||||
Flutter/flutter_assets/
|
||||
Flutter/flutter_export_environment.sh
|
||||
ServiceDefinitions.json
|
||||
Runner/GeneratedPluginRegistrant.*
|
||||
|
||||
# Exceptions to above rules.
|
||||
!default.mode1v3
|
||||
!default.mode2v3
|
||||
!default.pbxuser
|
||||
!default.perspectivev3
|
||||
@@ -0,0 +1,26 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
|
||||
<plist version="1.0">
|
||||
<dict>
|
||||
<key>CFBundleDevelopmentRegion</key>
|
||||
<string>$(DEVELOPMENT_LANGUAGE)</string>
|
||||
<key>CFBundleExecutable</key>
|
||||
<string>App</string>
|
||||
<key>CFBundleIdentifier</key>
|
||||
<string>io.flutter.flutter.app</string>
|
||||
<key>CFBundleInfoDictionaryVersion</key>
|
||||
<string>6.0</string>
|
||||
<key>CFBundleName</key>
|
||||
<string>App</string>
|
||||
<key>CFBundlePackageType</key>
|
||||
<string>FMWK</string>
|
||||
<key>CFBundleShortVersionString</key>
|
||||
<string>1.0</string>
|
||||
<key>CFBundleSignature</key>
|
||||
<string>????</string>
|
||||
<key>CFBundleVersion</key>
|
||||
<string>1.0</string>
|
||||
<key>MinimumOSVersion</key>
|
||||
<string>8.0</string>
|
||||
</dict>
|
||||
</plist>
|
||||
@@ -0,0 +1,2 @@
|
||||
#include "Pods/Target Support Files/Pods-Runner/Pods-Runner.debug.xcconfig"
|
||||
#include "Generated.xcconfig"
|
||||
@@ -0,0 +1,2 @@
|
||||
#include "Pods/Target Support Files/Pods-Runner/Pods-Runner.release.xcconfig"
|
||||
#include "Generated.xcconfig"
|
||||
@@ -0,0 +1,72 @@
|
||||
# Uncomment this line to define a global platform for your project
|
||||
# platform :ios, '9.0'
|
||||
|
||||
# CocoaPods analytics sends network stats synchronously affecting flutter build latency.
|
||||
ENV['COCOAPODS_DISABLE_STATS'] = 'true'
|
||||
|
||||
project 'Runner', {
|
||||
'Debug' => :debug,
|
||||
'Profile' => :release,
|
||||
'Release' => :release,
|
||||
}
|
||||
|
||||
def parse_KV_file(file, separator='=')
|
||||
file_abs_path = File.expand_path(file)
|
||||
if !File.exists? file_abs_path
|
||||
return [];
|
||||
end
|
||||
pods_ary = []
|
||||
skip_line_start_symbols = ["#", "/"]
|
||||
File.foreach(file_abs_path) { |line|
|
||||
next if skip_line_start_symbols.any? { |symbol| line =~ /^\s*#{symbol}/ }
|
||||
plugin = line.split(pattern=separator)
|
||||
if plugin.length == 2
|
||||
podname = plugin[0].strip()
|
||||
path = plugin[1].strip()
|
||||
podpath = File.expand_path("#{path}", file_abs_path)
|
||||
pods_ary.push({:name => podname, :path => podpath});
|
||||
else
|
||||
puts "Invalid plugin specification: #{line}"
|
||||
end
|
||||
}
|
||||
return pods_ary
|
||||
end
|
||||
|
||||
target 'Runner' do
|
||||
# Prepare symlinks folder. We use symlinks to avoid having Podfile.lock
|
||||
# referring to absolute paths on developers' machines.
|
||||
system('rm -rf .symlinks')
|
||||
system('mkdir -p .symlinks/plugins')
|
||||
|
||||
# Flutter Pods
|
||||
generated_xcode_build_settings = parse_KV_file('./Flutter/Generated.xcconfig')
|
||||
if generated_xcode_build_settings.empty?
|
||||
puts "Generated.xcconfig must exist. If you're running pod install manually, make sure flutter pub get is executed first."
|
||||
end
|
||||
generated_xcode_build_settings.map { |p|
|
||||
if p[:name] == 'FLUTTER_FRAMEWORK_DIR'
|
||||
symlink = File.join('.symlinks', 'flutter')
|
||||
File.symlink(File.dirname(p[:path]), symlink)
|
||||
pod 'Flutter', :path => File.join(symlink, File.basename(p[:path]))
|
||||
end
|
||||
}
|
||||
|
||||
# Plugin Pods
|
||||
plugin_pods = parse_KV_file('../.flutter-plugins')
|
||||
plugin_pods.map { |p|
|
||||
symlink = File.join('.symlinks', 'plugins', p[:name])
|
||||
File.symlink(p[:path], symlink)
|
||||
pod p[:name], :path => File.join(symlink, 'ios')
|
||||
}
|
||||
end
|
||||
|
||||
# Prevent Cocoapods from embedding a second Flutter framework and causing an error with the new Xcode build system.
|
||||
install! 'cocoapods', :disable_input_output_paths => true
|
||||
|
||||
post_install do |installer|
|
||||
installer.pods_project.targets.each do |target|
|
||||
target.build_configurations.each do |config|
|
||||
config.build_settings['ENABLE_BITCODE'] = 'NO'
|
||||
end
|
||||
end
|
||||
end
|
||||
@@ -0,0 +1,38 @@
|
||||
PODS:
|
||||
- "!ProtoCompiler (3.8.0)":
|
||||
- Protobuf (~> 3.0)
|
||||
- Flutter (1.0.0)
|
||||
- flutter_blue (0.0.1):
|
||||
- "!ProtoCompiler"
|
||||
- Flutter
|
||||
- flutter_blue/Protos (= 0.0.1)
|
||||
- flutter_blue/Protos (0.0.1):
|
||||
- "!ProtoCompiler"
|
||||
- Flutter
|
||||
- Protobuf
|
||||
- Protobuf (3.9.0)
|
||||
|
||||
DEPENDENCIES:
|
||||
- Flutter (from `.symlinks/flutter/ios`)
|
||||
- flutter_blue (from `.symlinks/plugins/flutter_blue/ios`)
|
||||
|
||||
SPEC REPOS:
|
||||
https://github.com/cocoapods/specs.git:
|
||||
- "!ProtoCompiler"
|
||||
- Protobuf
|
||||
|
||||
EXTERNAL SOURCES:
|
||||
Flutter:
|
||||
:path: ".symlinks/flutter/ios"
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||||
"idiom" : "iphone",
|
||||
"filename" : "Icon-App-40x40@2x.png",
|
||||
"scale" : "2x"
|
||||
},
|
||||
{
|
||||
"size" : "40x40",
|
||||
"idiom" : "iphone",
|
||||
"filename" : "Icon-App-40x40@3x.png",
|
||||
"scale" : "3x"
|
||||
},
|
||||
{
|
||||
"size" : "60x60",
|
||||
"idiom" : "iphone",
|
||||
"filename" : "Icon-App-60x60@2x.png",
|
||||
"scale" : "2x"
|
||||
},
|
||||
{
|
||||
"size" : "60x60",
|
||||
"idiom" : "iphone",
|
||||
"filename" : "Icon-App-60x60@3x.png",
|
||||
"scale" : "3x"
|
||||
},
|
||||
{
|
||||
"size" : "20x20",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-20x20@1x.png",
|
||||
"scale" : "1x"
|
||||
},
|
||||
{
|
||||
"size" : "20x20",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-20x20@2x.png",
|
||||
"scale" : "2x"
|
||||
},
|
||||
{
|
||||
"size" : "29x29",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-29x29@1x.png",
|
||||
"scale" : "1x"
|
||||
},
|
||||
{
|
||||
"size" : "29x29",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-29x29@2x.png",
|
||||
"scale" : "2x"
|
||||
},
|
||||
{
|
||||
"size" : "40x40",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-40x40@1x.png",
|
||||
"scale" : "1x"
|
||||
},
|
||||
{
|
||||
"size" : "40x40",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-40x40@2x.png",
|
||||
"scale" : "2x"
|
||||
},
|
||||
{
|
||||
"size" : "76x76",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-76x76@1x.png",
|
||||
"scale" : "1x"
|
||||
},
|
||||
{
|
||||
"size" : "76x76",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-76x76@2x.png",
|
||||
"scale" : "2x"
|
||||
},
|
||||
{
|
||||
"size" : "83.5x83.5",
|
||||
"idiom" : "ipad",
|
||||
"filename" : "Icon-App-83.5x83.5@2x.png",
|
||||
"scale" : "2x"
|
||||
},
|
||||
{
|
||||
"size" : "1024x1024",
|
||||
"idiom" : "ios-marketing",
|
||||
"filename" : "Icon-App-1024x1024@1x.png",
|
||||
"scale" : "1x"
|
||||
}
|
||||
],
|
||||
"info" : {
|
||||
"version" : 1,
|
||||
"author" : "xcode"
|
||||
}
|
||||
}
|
||||
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|
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|
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|
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|
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|
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|
After Width: | Height: | Size: 3.2 KiB |
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|
After Width: | Height: | Size: 3.5 KiB |
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"images" : [
|
||||
{
|
||||
"idiom" : "universal",
|
||||
"filename" : "LaunchImage.png",
|
||||
"scale" : "1x"
|
||||
},
|
||||
{
|
||||
"idiom" : "universal",
|
||||
"filename" : "LaunchImage@2x.png",
|
||||
"scale" : "2x"
|
||||
},
|
||||
{
|
||||
"idiom" : "universal",
|
||||
"filename" : "LaunchImage@3x.png",
|
||||
"scale" : "3x"
|
||||
}
|
||||
],
|
||||
"info" : {
|
||||
"version" : 1,
|
||||
"author" : "xcode"
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 68 B |
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|
After Width: | Height: | Size: 68 B |
Binary file not shown.
|
After Width: | Height: | Size: 68 B |
@@ -0,0 +1,5 @@
|
||||
# Launch Screen Assets
|
||||
|
||||
You can customize the launch screen with your own desired assets by replacing the image files in this directory.
|
||||
|
||||
You can also do it by opening your Flutter project's Xcode project with `open ios/Runner.xcworkspace`, selecting `Runner/Assets.xcassets` in the Project Navigator and dropping in the desired images.
|
||||
@@ -0,0 +1,37 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="12121" systemVersion="16G29" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" launchScreen="YES" colorMatched="YES" initialViewController="01J-lp-oVM">
|
||||
<dependencies>
|
||||
<deployment identifier="iOS"/>
|
||||
<plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="12089"/>
|
||||
</dependencies>
|
||||
<scenes>
|
||||
<!--View Controller-->
|
||||
<scene sceneID="EHf-IW-A2E">
|
||||
<objects>
|
||||
<viewController id="01J-lp-oVM" sceneMemberID="viewController">
|
||||
<layoutGuides>
|
||||
<viewControllerLayoutGuide type="top" id="Ydg-fD-yQy"/>
|
||||
<viewControllerLayoutGuide type="bottom" id="xbc-2k-c8Z"/>
|
||||
</layoutGuides>
|
||||
<view key="view" contentMode="scaleToFill" id="Ze5-6b-2t3">
|
||||
<autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
|
||||
<subviews>
|
||||
<imageView opaque="NO" clipsSubviews="YES" multipleTouchEnabled="YES" contentMode="center" image="LaunchImage" translatesAutoresizingMaskIntoConstraints="NO" id="YRO-k0-Ey4">
|
||||
</imageView>
|
||||
</subviews>
|
||||
<color key="backgroundColor" red="1" green="1" blue="1" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
|
||||
<constraints>
|
||||
<constraint firstItem="YRO-k0-Ey4" firstAttribute="centerX" secondItem="Ze5-6b-2t3" secondAttribute="centerX" id="1a2-6s-vTC"/>
|
||||
<constraint firstItem="YRO-k0-Ey4" firstAttribute="centerY" secondItem="Ze5-6b-2t3" secondAttribute="centerY" id="4X2-HB-R7a"/>
|
||||
</constraints>
|
||||
</view>
|
||||
</viewController>
|
||||
<placeholder placeholderIdentifier="IBFirstResponder" id="iYj-Kq-Ea1" userLabel="First Responder" sceneMemberID="firstResponder"/>
|
||||
</objects>
|
||||
<point key="canvasLocation" x="53" y="375"/>
|
||||
</scene>
|
||||
</scenes>
|
||||
<resources>
|
||||
<image name="LaunchImage" width="168" height="185"/>
|
||||
</resources>
|
||||
</document>
|
||||
@@ -0,0 +1,26 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="10117" systemVersion="15F34" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" useTraitCollections="YES" initialViewController="BYZ-38-t0r">
|
||||
<dependencies>
|
||||
<deployment identifier="iOS"/>
|
||||
<plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="10085"/>
|
||||
</dependencies>
|
||||
<scenes>
|
||||
<!--Flutter View Controller-->
|
||||
<scene sceneID="tne-QT-ifu">
|
||||
<objects>
|
||||
<viewController id="BYZ-38-t0r" customClass="FlutterViewController" sceneMemberID="viewController">
|
||||
<layoutGuides>
|
||||
<viewControllerLayoutGuide type="top" id="y3c-jy-aDJ"/>
|
||||
<viewControllerLayoutGuide type="bottom" id="wfy-db-euE"/>
|
||||
</layoutGuides>
|
||||
<view key="view" contentMode="scaleToFill" id="8bC-Xf-vdC">
|
||||
<rect key="frame" x="0.0" y="0.0" width="600" height="600"/>
|
||||
<autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
|
||||
<color key="backgroundColor" white="1" alpha="1" colorSpace="custom" customColorSpace="calibratedWhite"/>
|
||||
</view>
|
||||
</viewController>
|
||||
<placeholder placeholderIdentifier="IBFirstResponder" id="dkx-z0-nzr" sceneMemberID="firstResponder"/>
|
||||
</objects>
|
||||
</scene>
|
||||
</scenes>
|
||||
</document>
|
||||
@@ -0,0 +1,47 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
|
||||
<plist version="1.0">
|
||||
<dict>
|
||||
<key>CFBundleDevelopmentRegion</key>
|
||||
<string>$(DEVELOPMENT_LANGUAGE)</string>
|
||||
<key>NSBluetoothAlwaysUsageDescription</key>
|
||||
<string>Need to access the BLE </string>
|
||||
<key>CFBundleExecutable</key>
|
||||
<string>$(EXECUTABLE_NAME)</string>
|
||||
<key>CFBundleIdentifier</key>
|
||||
<string>$(PRODUCT_BUNDLE_IDENTIFIER)</string>
|
||||
<key>CFBundleInfoDictionaryVersion</key>
|
||||
<string>6.0</string>
|
||||
<key>CFBundleName</key>
|
||||
<string>flutter_app_esp32_ble_mpu6050</string>
|
||||
<key>CFBundlePackageType</key>
|
||||
<string>APPL</string>
|
||||
<key>CFBundleShortVersionString</key>
|
||||
<string>$(FLUTTER_BUILD_NAME)</string>
|
||||
<key>CFBundleSignature</key>
|
||||
<string>????</string>
|
||||
<key>CFBundleVersion</key>
|
||||
<string>$(FLUTTER_BUILD_NUMBER)</string>
|
||||
<key>LSRequiresIPhoneOS</key>
|
||||
<true/>
|
||||
<key>UILaunchStoryboardName</key>
|
||||
<string>LaunchScreen</string>
|
||||
<key>UIMainStoryboardFile</key>
|
||||
<string>Main</string>
|
||||
<key>UISupportedInterfaceOrientations</key>
|
||||
<array>
|
||||
<string>UIInterfaceOrientationPortrait</string>
|
||||
<string>UIInterfaceOrientationLandscapeLeft</string>
|
||||
<string>UIInterfaceOrientationLandscapeRight</string>
|
||||
</array>
|
||||
<key>UISupportedInterfaceOrientations~ipad</key>
|
||||
<array>
|
||||
<string>UIInterfaceOrientationPortrait</string>
|
||||
<string>UIInterfaceOrientationPortraitUpsideDown</string>
|
||||
<string>UIInterfaceOrientationLandscapeLeft</string>
|
||||
<string>UIInterfaceOrientationLandscapeRight</string>
|
||||
</array>
|
||||
<key>UIViewControllerBasedStatusBarAppearance</key>
|
||||
<false/>
|
||||
</dict>
|
||||
</plist>
|
||||
@@ -0,0 +1,9 @@
|
||||
#import <Flutter/Flutter.h>
|
||||
#import <UIKit/UIKit.h>
|
||||
#import "AppDelegate.h"
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
@autoreleasepool {
|
||||
return UIApplicationMain(argc, argv, nil, NSStringFromClass([AppDelegate class]));
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,293 @@
|
||||
// Copyright 2017, Paul DeMarco.
|
||||
// All rights reserved. Use of this source code is governed by a
|
||||
// BSD-style license that can be found in the LICENSE file.
|
||||
|
||||
import 'dart:async';
|
||||
|
||||
import 'package:flutter/material.dart';
|
||||
import 'package:flutter_app_esp32_ble_mpu6050/mpu6050_page.dart';
|
||||
import 'package:flutter_app_esp32_ble_mpu6050/widgets.dart';
|
||||
import 'package:flutter_blue/flutter_blue.dart';
|
||||
|
||||
void main() {
|
||||
runApp(FlutterBlueApp());
|
||||
}
|
||||
|
||||
class FlutterBlueApp extends StatelessWidget {
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return MaterialApp(
|
||||
debugShowCheckedModeBanner: false,
|
||||
color: Colors.lightBlue,
|
||||
home: StreamBuilder<BluetoothState>(
|
||||
stream: FlutterBlue.instance.state,
|
||||
initialData: BluetoothState.unknown,
|
||||
builder: (c, snapshot) {
|
||||
final state = snapshot.data;
|
||||
if (state == BluetoothState.on) {
|
||||
return FindDevicesScreen();
|
||||
}
|
||||
return BluetoothOffScreen(state: state);
|
||||
}),
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
class BluetoothOffScreen extends StatelessWidget {
|
||||
const BluetoothOffScreen({Key key, this.state}) : super(key: key);
|
||||
|
||||
final BluetoothState state;
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return Scaffold(
|
||||
backgroundColor: Colors.lightBlue,
|
||||
body: Center(
|
||||
child: Column(
|
||||
mainAxisSize: MainAxisSize.min,
|
||||
children: <Widget>[
|
||||
Icon(
|
||||
Icons.bluetooth_disabled,
|
||||
size: 200.0,
|
||||
color: Colors.white54,
|
||||
),
|
||||
Text(
|
||||
'Bluetooth Adapter is ${state.toString().substring(15)}.',
|
||||
style: Theme.of(context)
|
||||
.primaryTextTheme
|
||||
.subhead
|
||||
.copyWith(color: Colors.white),
|
||||
),
|
||||
],
|
||||
),
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
class FindDevicesScreen extends StatelessWidget {
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return Scaffold(
|
||||
appBar: AppBar(
|
||||
title: Text('Find Devices'),
|
||||
),
|
||||
body: RefreshIndicator(
|
||||
onRefresh: () =>
|
||||
FlutterBlue.instance.startScan(timeout: Duration(seconds: 4)),
|
||||
child: SingleChildScrollView(
|
||||
child: Column(
|
||||
children: <Widget>[
|
||||
StreamBuilder<List<BluetoothDevice>>(
|
||||
stream: Stream.periodic(Duration(seconds: 2))
|
||||
.asyncMap((_) => FlutterBlue.instance.connectedDevices),
|
||||
initialData: [],
|
||||
builder: (c, snapshot) => Column(
|
||||
children: snapshot.data
|
||||
.map((d) => ListTile(
|
||||
title: Text(d.name),
|
||||
subtitle: Text(d.id.toString()),
|
||||
trailing: StreamBuilder<BluetoothDeviceState>(
|
||||
stream: d.state,
|
||||
initialData: BluetoothDeviceState.disconnected,
|
||||
builder: (c, snapshot) {
|
||||
if (snapshot.data ==
|
||||
BluetoothDeviceState.connected) {
|
||||
return RaisedButton(
|
||||
child: Text('OPEN'),
|
||||
onPressed: () => Navigator.of(context).push(
|
||||
MaterialPageRoute(
|
||||
builder: (context) =>
|
||||
DeviceScreen(device: d))),
|
||||
);
|
||||
}
|
||||
return Text(snapshot.data.toString());
|
||||
},
|
||||
),
|
||||
))
|
||||
.toList(),
|
||||
),
|
||||
),
|
||||
StreamBuilder<List<ScanResult>>(
|
||||
stream: FlutterBlue.instance.scanResults,
|
||||
initialData: [],
|
||||
builder: (c, snapshot) => Column(
|
||||
children: snapshot.data
|
||||
.map(
|
||||
(r) => ScanResultTile(
|
||||
result: r,
|
||||
onTap: () => Navigator.of(context)
|
||||
.push(MaterialPageRoute(builder: (context) {
|
||||
r.device.connect();
|
||||
return Mpu6050Page(device: r.device);
|
||||
})),
|
||||
),
|
||||
)
|
||||
.toList(),
|
||||
),
|
||||
),
|
||||
],
|
||||
),
|
||||
),
|
||||
),
|
||||
floatingActionButton: StreamBuilder<bool>(
|
||||
stream: FlutterBlue.instance.isScanning,
|
||||
initialData: false,
|
||||
builder: (c, snapshot) {
|
||||
if (snapshot.data) {
|
||||
return FloatingActionButton(
|
||||
child: Icon(Icons.stop),
|
||||
onPressed: () => FlutterBlue.instance.stopScan(),
|
||||
backgroundColor: Colors.red,
|
||||
);
|
||||
} else {
|
||||
return FloatingActionButton(
|
||||
child: Icon(Icons.search),
|
||||
onPressed: () => FlutterBlue.instance
|
||||
.startScan(timeout: Duration(seconds: 4)));
|
||||
}
|
||||
},
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
class DeviceScreen extends StatelessWidget {
|
||||
const DeviceScreen({Key key, this.device}) : super(key: key);
|
||||
|
||||
final BluetoothDevice device;
|
||||
|
||||
List<Widget> _buildServiceTiles(List<BluetoothService> services) {
|
||||
return services
|
||||
.map(
|
||||
(s) => ServiceTile(
|
||||
service: s,
|
||||
characteristicTiles: s.characteristics
|
||||
.map(
|
||||
(c) => CharacteristicTile(
|
||||
characteristic: c,
|
||||
onReadPressed: () => c.read(),
|
||||
onWritePressed: () => c.write([13, 24]),
|
||||
onNotificationPressed: () =>
|
||||
c.setNotifyValue(!c.isNotifying),
|
||||
descriptorTiles: c.descriptors
|
||||
.map(
|
||||
(d) => DescriptorTile(
|
||||
descriptor: d,
|
||||
onReadPressed: () => d.read(),
|
||||
onWritePressed: () => d.write([11, 12]),
|
||||
),
|
||||
)
|
||||
.toList(),
|
||||
),
|
||||
)
|
||||
.toList(),
|
||||
),
|
||||
)
|
||||
.toList();
|
||||
}
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return Scaffold(
|
||||
appBar: AppBar(
|
||||
title: Text(device.name),
|
||||
actions: <Widget>[
|
||||
StreamBuilder<BluetoothDeviceState>(
|
||||
stream: device.state,
|
||||
initialData: BluetoothDeviceState.connecting,
|
||||
builder: (c, snapshot) {
|
||||
VoidCallback onPressed;
|
||||
String text;
|
||||
switch (snapshot.data) {
|
||||
case BluetoothDeviceState.connected:
|
||||
onPressed = () => device.disconnect();
|
||||
text = 'DISCONNECT';
|
||||
break;
|
||||
case BluetoothDeviceState.disconnected:
|
||||
onPressed = () => device.connect();
|
||||
text = 'CONNECT';
|
||||
break;
|
||||
default:
|
||||
onPressed = null;
|
||||
text = snapshot.data.toString().substring(21).toUpperCase();
|
||||
break;
|
||||
}
|
||||
return FlatButton(
|
||||
onPressed: onPressed,
|
||||
child: Text(
|
||||
text,
|
||||
style: Theme.of(context)
|
||||
.primaryTextTheme
|
||||
.button
|
||||
.copyWith(color: Colors.white),
|
||||
));
|
||||
},
|
||||
)
|
||||
],
|
||||
),
|
||||
body: SingleChildScrollView(
|
||||
child: Column(
|
||||
children: <Widget>[
|
||||
StreamBuilder<BluetoothDeviceState>(
|
||||
stream: device.state,
|
||||
initialData: BluetoothDeviceState.connecting,
|
||||
builder: (c, snapshot) => ListTile(
|
||||
leading: (snapshot.data == BluetoothDeviceState.connected)
|
||||
? Icon(Icons.bluetooth_connected)
|
||||
: Icon(Icons.bluetooth_disabled),
|
||||
title: Text(
|
||||
'Device is ${snapshot.data.toString().split('.')[1]}.'),
|
||||
subtitle: Text('${device.id}'),
|
||||
trailing: StreamBuilder<bool>(
|
||||
stream: device.isDiscoveringServices,
|
||||
initialData: false,
|
||||
builder: (c, snapshot) => IndexedStack(
|
||||
index: snapshot.data ? 1 : 0,
|
||||
children: <Widget>[
|
||||
IconButton(
|
||||
icon: Icon(Icons.refresh),
|
||||
onPressed: () => device.discoverServices(),
|
||||
),
|
||||
IconButton(
|
||||
icon: SizedBox(
|
||||
child: CircularProgressIndicator(
|
||||
valueColor: AlwaysStoppedAnimation(Colors.grey),
|
||||
),
|
||||
width: 18.0,
|
||||
height: 18.0,
|
||||
),
|
||||
onPressed: null,
|
||||
)
|
||||
],
|
||||
),
|
||||
),
|
||||
),
|
||||
),
|
||||
StreamBuilder<int>(
|
||||
stream: device.mtu,
|
||||
initialData: 0,
|
||||
builder: (c, snapshot) => ListTile(
|
||||
title: Text('MTU Size'),
|
||||
subtitle: Text('${snapshot.data} bytes'),
|
||||
trailing: IconButton(
|
||||
icon: Icon(Icons.edit),
|
||||
onPressed: () => device.requestMtu(223),
|
||||
),
|
||||
),
|
||||
),
|
||||
StreamBuilder<List<BluetoothService>>(
|
||||
stream: device.services,
|
||||
initialData: [],
|
||||
builder: (c, snapshot) {
|
||||
return Column(
|
||||
children: _buildServiceTiles(snapshot.data),
|
||||
);
|
||||
},
|
||||
),
|
||||
],
|
||||
),
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,197 @@
|
||||
import 'dart:async';
|
||||
import 'dart:convert' show utf8;
|
||||
|
||||
import 'package:flutter/material.dart';
|
||||
import 'package:flutter_3d_obj/flutter_3d_obj.dart';
|
||||
import 'package:flutter_blue/flutter_blue.dart';
|
||||
import 'package:vector_math/vector_math.dart' as VMath;
|
||||
|
||||
class Mpu6050Page extends StatefulWidget {
|
||||
final BluetoothDevice device;
|
||||
|
||||
const Mpu6050Page({Key key, this.device}) : super(key: key);
|
||||
|
||||
@override
|
||||
_Mpu6050PageState createState() => _Mpu6050PageState();
|
||||
}
|
||||
|
||||
class _Mpu6050PageState extends State<Mpu6050Page> {
|
||||
final String SERVICE_UUID = "4fafc201-1fb5-459e-8fcc-c5c9c331914b";
|
||||
final String CHARACTERISTIC_UUID = "beb5483e-36e1-4688-b7f5-ea07361b26a8";
|
||||
bool isReady;
|
||||
Stream<List<int>> stream;
|
||||
List<double> traceDust = List();
|
||||
|
||||
@override
|
||||
void initState() {
|
||||
super.initState();
|
||||
isReady = false;
|
||||
connectToDevice();
|
||||
}
|
||||
|
||||
connectToDevice() async {
|
||||
if (widget.device == null) {
|
||||
_Pop();
|
||||
return;
|
||||
}
|
||||
|
||||
new Timer(const Duration(seconds: 15), () {
|
||||
if (!isReady) {
|
||||
disconnectFromDevice();
|
||||
_Pop();
|
||||
}
|
||||
});
|
||||
|
||||
await widget.device.connect();
|
||||
discoverServices();
|
||||
}
|
||||
|
||||
disconnectFromDevice() {
|
||||
if (widget.device == null) {
|
||||
_Pop();
|
||||
return;
|
||||
}
|
||||
|
||||
widget.device.disconnect();
|
||||
}
|
||||
|
||||
discoverServices() async {
|
||||
if (widget.device == null) {
|
||||
_Pop();
|
||||
return;
|
||||
}
|
||||
|
||||
List<BluetoothService> services = await widget.device.discoverServices();
|
||||
services.forEach((service) {
|
||||
if (service.uuid.toString() == SERVICE_UUID) {
|
||||
service.characteristics.forEach((characteristic) {
|
||||
if (characteristic.uuid.toString() == CHARACTERISTIC_UUID) {
|
||||
characteristic.setNotifyValue(!characteristic.isNotifying);
|
||||
stream = characteristic.value;
|
||||
|
||||
setState(() {
|
||||
isReady = true;
|
||||
});
|
||||
}
|
||||
});
|
||||
}
|
||||
});
|
||||
|
||||
if (!isReady) {
|
||||
_Pop();
|
||||
}
|
||||
}
|
||||
|
||||
Future<bool> _onWillPop() {
|
||||
return showDialog(
|
||||
context: context,
|
||||
builder: (context) =>
|
||||
new AlertDialog(
|
||||
title: Text('Are you sure?'),
|
||||
content: Text('Do you want to disconnect device and go back?'),
|
||||
actions: <Widget>[
|
||||
new FlatButton(
|
||||
onPressed: () => Navigator.of(context).pop(false),
|
||||
child: new Text('No')),
|
||||
new FlatButton(
|
||||
onPressed: () {
|
||||
disconnectFromDevice();
|
||||
Navigator.of(context).pop(true);
|
||||
},
|
||||
child: new Text('Yes')),
|
||||
],
|
||||
) ??
|
||||
false);
|
||||
}
|
||||
|
||||
_Pop() {
|
||||
Navigator.of(context).pop(true);
|
||||
}
|
||||
|
||||
VMath.Vector3 _dataParser(List<int> dataFromDevice) {
|
||||
var eulerString = utf8.decode(dataFromDevice);
|
||||
var eulerList = eulerString.split(',');
|
||||
if (eulerList.length == 3) {
|
||||
double x = double.tryParse(eulerList[0]) ?? 0;
|
||||
double y = double.tryParse(eulerList[1]) ?? 0;
|
||||
double z = double.tryParse(eulerList[2]) ?? 0;
|
||||
|
||||
return VMath.Vector3(x, y, z);
|
||||
} else {
|
||||
return VMath.Vector3.zero();
|
||||
}
|
||||
}
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return WillPopScope(
|
||||
onWillPop: _onWillPop,
|
||||
child: Scaffold(
|
||||
appBar: AppBar(
|
||||
title: Text('MPU6050 Sensor'),
|
||||
),
|
||||
body: Container(
|
||||
child: !isReady
|
||||
? Center(
|
||||
child: Text(
|
||||
"Waiting...",
|
||||
style: TextStyle(fontSize: 24, color: Colors.red),
|
||||
),
|
||||
)
|
||||
: Container(
|
||||
child: StreamBuilder<List<int>>(
|
||||
stream: stream,
|
||||
builder: (BuildContext context,
|
||||
AsyncSnapshot<List<int>> snapshot) {
|
||||
if (snapshot.hasError)
|
||||
return Text('Error: ${snapshot.error}');
|
||||
|
||||
if (snapshot.connectionState ==
|
||||
ConnectionState.active) {
|
||||
var currentValue = _dataParser(snapshot.data);
|
||||
|
||||
return Center(
|
||||
child: Stack(
|
||||
children: <Widget>[
|
||||
Container(
|
||||
child: Center(
|
||||
child: new Object3D(
|
||||
size: const Size(300, 300),
|
||||
path: "assets/small_breadBoard.obj",
|
||||
asset: true,
|
||||
angleX: currentValue.x,
|
||||
angleY: currentValue.y,
|
||||
angleZ: currentValue.z,
|
||||
zoom: 50,
|
||||
),
|
||||
),
|
||||
color: Colors.blueGrey,
|
||||
),
|
||||
Column(children: <Widget>[
|
||||
Text('Current value from Sensor',
|
||||
style: TextStyle(fontSize: 14)),
|
||||
Text('${currentValue.x}',
|
||||
style: TextStyle(
|
||||
fontWeight: FontWeight.bold,
|
||||
fontSize: 16)),
|
||||
Text('${currentValue.y}',
|
||||
style: TextStyle(
|
||||
fontWeight: FontWeight.bold,
|
||||
fontSize: 16)),
|
||||
Text('${currentValue.z}',
|
||||
style: TextStyle(
|
||||
fontWeight: FontWeight.bold,
|
||||
fontSize: 16))
|
||||
]),
|
||||
],
|
||||
));
|
||||
} else {
|
||||
return Text('Check the stream');
|
||||
}
|
||||
},
|
||||
),
|
||||
)),
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,302 @@
|
||||
// Copyright 2017, Paul DeMarco.
|
||||
// All rights reserved. Use of this source code is governed by a
|
||||
// BSD-style license that can be found in the LICENSE file.
|
||||
|
||||
import 'package:flutter/material.dart';
|
||||
import 'package:flutter_blue/flutter_blue.dart';
|
||||
|
||||
class ScanResultTile extends StatelessWidget {
|
||||
const ScanResultTile({Key key, this.result, this.onTap}) : super(key: key);
|
||||
|
||||
final ScanResult result;
|
||||
final VoidCallback onTap;
|
||||
|
||||
Widget _buildTitle(BuildContext context) {
|
||||
if (result.device.name.length > 0) {
|
||||
return Column(
|
||||
mainAxisAlignment: MainAxisAlignment.start,
|
||||
crossAxisAlignment: CrossAxisAlignment.start,
|
||||
children: <Widget>[
|
||||
Text(
|
||||
result.device.name,
|
||||
overflow: TextOverflow.ellipsis,
|
||||
),
|
||||
Text(
|
||||
result.device.id.toString(),
|
||||
style: Theme.of(context).textTheme.caption,
|
||||
)
|
||||
],
|
||||
);
|
||||
} else {
|
||||
return Text(result.device.id.toString());
|
||||
}
|
||||
}
|
||||
|
||||
Widget _buildAdvRow(BuildContext context, String title, String value) {
|
||||
return Padding(
|
||||
padding: EdgeInsets.symmetric(horizontal: 16.0, vertical: 4.0),
|
||||
child: Row(
|
||||
crossAxisAlignment: CrossAxisAlignment.start,
|
||||
children: <Widget>[
|
||||
Text(title, style: Theme.of(context).textTheme.caption),
|
||||
SizedBox(
|
||||
width: 12.0,
|
||||
),
|
||||
Expanded(
|
||||
child: Text(
|
||||
value,
|
||||
style: Theme.of(context)
|
||||
.textTheme
|
||||
.caption
|
||||
.apply(color: Colors.black),
|
||||
softWrap: true,
|
||||
),
|
||||
),
|
||||
],
|
||||
),
|
||||
);
|
||||
}
|
||||
|
||||
String getNiceHexArray(List<int> bytes) {
|
||||
return '[${bytes.map((i) => i.toRadixString(16).padLeft(2, '0')).join(', ')}]'
|
||||
.toUpperCase();
|
||||
}
|
||||
|
||||
String getNiceManufacturerData(Map<int, List<int>> data) {
|
||||
if (data.isEmpty) {
|
||||
return null;
|
||||
}
|
||||
List<String> res = [];
|
||||
data.forEach((id, bytes) {
|
||||
res.add(
|
||||
'${id.toRadixString(16).toUpperCase()}: ${getNiceHexArray(bytes)}');
|
||||
});
|
||||
return res.join(', ');
|
||||
}
|
||||
|
||||
String getNiceServiceData(Map<String, List<int>> data) {
|
||||
if (data.isEmpty) {
|
||||
return null;
|
||||
}
|
||||
List<String> res = [];
|
||||
data.forEach((id, bytes) {
|
||||
res.add('${id.toUpperCase()}: ${getNiceHexArray(bytes)}');
|
||||
});
|
||||
return res.join(', ');
|
||||
}
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return ExpansionTile(
|
||||
title: _buildTitle(context),
|
||||
leading: Text(result.rssi.toString()),
|
||||
trailing: RaisedButton(
|
||||
child: Text('CONNECT'),
|
||||
color: Colors.black,
|
||||
textColor: Colors.white,
|
||||
onPressed: (result.advertisementData.connectable) ? onTap : null,
|
||||
),
|
||||
children: <Widget>[
|
||||
_buildAdvRow(
|
||||
context, 'Complete Local Name', result.advertisementData.localName),
|
||||
_buildAdvRow(context, 'Tx Power Level',
|
||||
'${result.advertisementData.txPowerLevel ?? 'N/A'}'),
|
||||
_buildAdvRow(
|
||||
context,
|
||||
'Manufacturer Data',
|
||||
getNiceManufacturerData(
|
||||
result.advertisementData.manufacturerData) ??
|
||||
'N/A'),
|
||||
_buildAdvRow(
|
||||
context,
|
||||
'Service UUIDs',
|
||||
(result.advertisementData.serviceUuids.isNotEmpty)
|
||||
? result.advertisementData.serviceUuids.join(', ').toUpperCase()
|
||||
: 'N/A'),
|
||||
_buildAdvRow(context, 'Service Data',
|
||||
getNiceServiceData(result.advertisementData.serviceData) ?? 'N/A'),
|
||||
],
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
class ServiceTile extends StatelessWidget {
|
||||
final BluetoothService service;
|
||||
final List<CharacteristicTile> characteristicTiles;
|
||||
|
||||
const ServiceTile({Key key, this.service, this.characteristicTiles})
|
||||
: super(key: key);
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
if (characteristicTiles.length > 0) {
|
||||
return ExpansionTile(
|
||||
title: Column(
|
||||
mainAxisAlignment: MainAxisAlignment.center,
|
||||
crossAxisAlignment: CrossAxisAlignment.start,
|
||||
children: <Widget>[
|
||||
Text('Service'),
|
||||
Text('0x${service.uuid.toString().toUpperCase().substring(4, 8)}',
|
||||
style: Theme.of(context)
|
||||
.textTheme
|
||||
.body1
|
||||
.copyWith(color: Theme.of(context).textTheme.caption.color))
|
||||
],
|
||||
),
|
||||
children: characteristicTiles,
|
||||
);
|
||||
} else {
|
||||
return ListTile(
|
||||
title: Text('Service'),
|
||||
subtitle:
|
||||
Text('0x${service.uuid.toString().toUpperCase().substring(4, 8)}'),
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
class CharacteristicTile extends StatelessWidget {
|
||||
final BluetoothCharacteristic characteristic;
|
||||
final List<DescriptorTile> descriptorTiles;
|
||||
final VoidCallback onReadPressed;
|
||||
final VoidCallback onWritePressed;
|
||||
final VoidCallback onNotificationPressed;
|
||||
|
||||
const CharacteristicTile(
|
||||
{Key key,
|
||||
this.characteristic,
|
||||
this.descriptorTiles,
|
||||
this.onReadPressed,
|
||||
this.onWritePressed,
|
||||
this.onNotificationPressed})
|
||||
: super(key: key);
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return StreamBuilder<List<int>>(
|
||||
stream: characteristic.value,
|
||||
initialData: characteristic.lastValue,
|
||||
builder: (c, snapshot) {
|
||||
final value = snapshot.data;
|
||||
return ExpansionTile(
|
||||
title: ListTile(
|
||||
title: Column(
|
||||
mainAxisAlignment: MainAxisAlignment.center,
|
||||
crossAxisAlignment: CrossAxisAlignment.start,
|
||||
children: <Widget>[
|
||||
Text('Characteristic'),
|
||||
Text(
|
||||
'0x${characteristic.uuid.toString().toUpperCase().substring(4, 8)}',
|
||||
style: Theme.of(context).textTheme.body1.copyWith(
|
||||
color: Theme.of(context).textTheme.caption.color))
|
||||
],
|
||||
),
|
||||
subtitle: Text(value.toString()),
|
||||
contentPadding: EdgeInsets.all(0.0),
|
||||
),
|
||||
trailing: Row(
|
||||
mainAxisSize: MainAxisSize.min,
|
||||
children: <Widget>[
|
||||
IconButton(
|
||||
icon: Icon(
|
||||
Icons.file_download,
|
||||
color: Theme.of(context).iconTheme.color.withOpacity(0.5),
|
||||
),
|
||||
onPressed: onReadPressed,
|
||||
),
|
||||
IconButton(
|
||||
icon: Icon(Icons.file_upload,
|
||||
color: Theme.of(context).iconTheme.color.withOpacity(0.5)),
|
||||
onPressed: onWritePressed,
|
||||
),
|
||||
IconButton(
|
||||
icon: Icon(
|
||||
characteristic.isNotifying
|
||||
? Icons.sync_disabled
|
||||
: Icons.sync,
|
||||
color: Theme.of(context).iconTheme.color.withOpacity(0.5)),
|
||||
onPressed: onNotificationPressed,
|
||||
)
|
||||
],
|
||||
),
|
||||
children: descriptorTiles,
|
||||
);
|
||||
},
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
class DescriptorTile extends StatelessWidget {
|
||||
final BluetoothDescriptor descriptor;
|
||||
final VoidCallback onReadPressed;
|
||||
final VoidCallback onWritePressed;
|
||||
|
||||
const DescriptorTile(
|
||||
{Key key, this.descriptor, this.onReadPressed, this.onWritePressed})
|
||||
: super(key: key);
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return ListTile(
|
||||
title: Column(
|
||||
mainAxisAlignment: MainAxisAlignment.center,
|
||||
crossAxisAlignment: CrossAxisAlignment.start,
|
||||
children: <Widget>[
|
||||
Text('Descriptor'),
|
||||
Text('0x${descriptor.uuid.toString().toUpperCase().substring(4, 8)}',
|
||||
style: Theme.of(context)
|
||||
.textTheme
|
||||
.body1
|
||||
.copyWith(color: Theme.of(context).textTheme.caption.color))
|
||||
],
|
||||
),
|
||||
subtitle: StreamBuilder<List<int>>(
|
||||
stream: descriptor.value,
|
||||
initialData: descriptor.lastValue,
|
||||
builder: (c, snapshot) => Text(snapshot.data.toString()),
|
||||
),
|
||||
trailing: Row(
|
||||
mainAxisSize: MainAxisSize.min,
|
||||
children: <Widget>[
|
||||
IconButton(
|
||||
icon: Icon(
|
||||
Icons.file_download,
|
||||
color: Theme.of(context).iconTheme.color.withOpacity(0.5),
|
||||
),
|
||||
onPressed: onReadPressed,
|
||||
),
|
||||
IconButton(
|
||||
icon: Icon(
|
||||
Icons.file_upload,
|
||||
color: Theme.of(context).iconTheme.color.withOpacity(0.5),
|
||||
),
|
||||
onPressed: onWritePressed,
|
||||
)
|
||||
],
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
class AdapterStateTile extends StatelessWidget {
|
||||
const AdapterStateTile({Key key, @required this.state}) : super(key: key);
|
||||
|
||||
final BluetoothState state;
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return Container(
|
||||
color: Colors.redAccent,
|
||||
child: ListTile(
|
||||
title: Text(
|
||||
'Bluetooth adapter is ${state.toString().substring(15)}',
|
||||
style: Theme.of(context).primaryTextTheme.subhead,
|
||||
),
|
||||
trailing: Icon(
|
||||
Icons.error,
|
||||
color: Theme.of(context).primaryTextTheme.subhead.color,
|
||||
),
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,231 @@
|
||||
# Generated by pub
|
||||
# See https://dart.dev/tools/pub/glossary#lockfile
|
||||
packages:
|
||||
archive:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: archive
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.0.10"
|
||||
args:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: args
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.5.2"
|
||||
async:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: async
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.3.0"
|
||||
boolean_selector:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: boolean_selector
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.0.5"
|
||||
charcode:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: charcode
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.1.2"
|
||||
collection:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: collection
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.14.11"
|
||||
convert:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: convert
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.1.1"
|
||||
crypto:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: crypto
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.1.3"
|
||||
cupertino_icons:
|
||||
dependency: "direct main"
|
||||
description:
|
||||
name: cupertino_icons
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "0.1.2"
|
||||
fixnum:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: fixnum
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "0.10.9"
|
||||
flutter:
|
||||
dependency: "direct main"
|
||||
description: flutter
|
||||
source: sdk
|
||||
version: "0.0.0"
|
||||
flutter_3d_obj:
|
||||
dependency: "direct main"
|
||||
description:
|
||||
name: flutter_3d_obj
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "0.0.6"
|
||||
flutter_blue:
|
||||
dependency: "direct main"
|
||||
description:
|
||||
name: flutter_blue
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "0.6.2"
|
||||
flutter_test:
|
||||
dependency: "direct dev"
|
||||
description: flutter
|
||||
source: sdk
|
||||
version: "0.0.0"
|
||||
image:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: image
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.1.4"
|
||||
matcher:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: matcher
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "0.12.5"
|
||||
meta:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: meta
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.1.7"
|
||||
path:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: path
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.6.4"
|
||||
pedantic:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: pedantic
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.8.0+1"
|
||||
petitparser:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: petitparser
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.4.0"
|
||||
protobuf:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: protobuf
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "0.14.4"
|
||||
quiver:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: quiver
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.0.5"
|
||||
rxdart:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: rxdart
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "0.22.3"
|
||||
sky_engine:
|
||||
dependency: transitive
|
||||
description: flutter
|
||||
source: sdk
|
||||
version: "0.0.99"
|
||||
source_span:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: source_span
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.5.5"
|
||||
stack_trace:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: stack_trace
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.9.3"
|
||||
stream_channel:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: stream_channel
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.0.0"
|
||||
string_scanner:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: string_scanner
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.0.5"
|
||||
term_glyph:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: term_glyph
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.1.0"
|
||||
test_api:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: test_api
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "0.2.5"
|
||||
typed_data:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: typed_data
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "1.1.6"
|
||||
vector_math:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: vector_math
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "2.0.8"
|
||||
xml:
|
||||
dependency: transitive
|
||||
description:
|
||||
name: xml
|
||||
url: "https://pub.dartlang.org"
|
||||
source: hosted
|
||||
version: "3.5.0"
|
||||
sdks:
|
||||
dart: ">=2.4.0 <3.0.0"
|
||||
flutter: ">=0.2.4 <2.0.0"
|
||||
@@ -0,0 +1,76 @@
|
||||
name: flutter_app_esp32_ble_mpu6050
|
||||
description: A new Flutter application.
|
||||
|
||||
# The following defines the version and build number for your application.
|
||||
# A version number is three numbers separated by dots, like 1.2.43
|
||||
# followed by an optional build number separated by a +.
|
||||
# Both the version and the builder number may be overridden in flutter
|
||||
# build by specifying --build-name and --build-number, respectively.
|
||||
# In Android, build-name is used as versionName while build-number used as versionCode.
|
||||
# Read more about Android versioning at https://developer.android.com/studio/publish/versioning
|
||||
# In iOS, build-name is used as CFBundleShortVersionString while build-number used as CFBundleVersion.
|
||||
# Read more about iOS versioning at
|
||||
# https://developer.apple.com/library/archive/documentation/General/Reference/InfoPlistKeyReference/Articles/CoreFoundationKeys.html
|
||||
version: 1.0.0+1
|
||||
|
||||
environment:
|
||||
sdk: ">=2.1.0 <3.0.0"
|
||||
|
||||
dependencies:
|
||||
flutter:
|
||||
sdk: flutter
|
||||
|
||||
# The following adds the Cupertino Icons font to your application.
|
||||
# Use with the CupertinoIcons class for iOS style icons.
|
||||
cupertino_icons: ^0.1.2
|
||||
flutter_blue: ^0.6.2
|
||||
flutter_3d_obj: ^0.0.6
|
||||
|
||||
dev_dependencies:
|
||||
flutter_test:
|
||||
sdk: flutter
|
||||
|
||||
|
||||
# For information on the generic Dart part of this file, see the
|
||||
# following page: https://dart.dev/tools/pub/pubspec
|
||||
|
||||
# The following section is specific to Flutter.
|
||||
flutter:
|
||||
assets:
|
||||
- assets/small_breadBoard.obj
|
||||
|
||||
# The following line ensures that the Material Icons font is
|
||||
# included with your application, so that you can use the icons in
|
||||
# the material Icons class.
|
||||
uses-material-design: true
|
||||
|
||||
# To add assets to your application, add an assets section, like this:
|
||||
# assets:
|
||||
# - images/a_dot_burr.jpeg
|
||||
# - images/a_dot_ham.jpeg
|
||||
|
||||
# An image asset can refer to one or more resolution-specific "variants", see
|
||||
# https://flutter.dev/assets-and-images/#resolution-aware.
|
||||
|
||||
# For details regarding adding assets from package dependencies, see
|
||||
# https://flutter.dev/assets-and-images/#from-packages
|
||||
|
||||
# To add custom fonts to your application, add a fonts section here,
|
||||
# in this "flutter" section. Each entry in this list should have a
|
||||
# "family" key with the font family name, and a "fonts" key with a
|
||||
# list giving the asset and other descriptors for the font. For
|
||||
# example:
|
||||
# fonts:
|
||||
# - family: Schyler
|
||||
# fonts:
|
||||
# - asset: fonts/Schyler-Regular.ttf
|
||||
# - asset: fonts/Schyler-Italic.ttf
|
||||
# style: italic
|
||||
# - family: Trajan Pro
|
||||
# fonts:
|
||||
# - asset: fonts/TrajanPro.ttf
|
||||
# - asset: fonts/TrajanPro_Bold.ttf
|
||||
# weight: 700
|
||||
#
|
||||
# For details regarding fonts from package dependencies,
|
||||
# see https://flutter.dev/custom-fonts/#from-packages
|
||||
@@ -0,0 +1,30 @@
|
||||
// This is a basic Flutter widget test.
|
||||
//
|
||||
// To perform an interaction with a widget in your test, use the WidgetTester
|
||||
// utility that Flutter provides. For example, you can send tap and scroll
|
||||
// gestures. You can also use WidgetTester to find child widgets in the widget
|
||||
// tree, read text, and verify that the values of widget properties are correct.
|
||||
|
||||
import 'package:flutter/material.dart';
|
||||
import 'package:flutter_test/flutter_test.dart';
|
||||
|
||||
import 'package:flutter_app_esp32_ble_mpu6050/main.dart';
|
||||
|
||||
void main() {
|
||||
testWidgets('Counter increments smoke test', (WidgetTester tester) async {
|
||||
// Build our app and trigger a frame.
|
||||
await tester.pumpWidget(MyApp());
|
||||
|
||||
// Verify that our counter starts at 0.
|
||||
expect(find.text('0'), findsOneWidget);
|
||||
expect(find.text('1'), findsNothing);
|
||||
|
||||
// Tap the '+' icon and trigger a frame.
|
||||
await tester.tap(find.byIcon(Icons.add));
|
||||
await tester.pump();
|
||||
|
||||
// Verify that our counter has incremented.
|
||||
expect(find.text('0'), findsNothing);
|
||||
expect(find.text('1'), findsOneWidget);
|
||||
});
|
||||
}
|
||||
Reference in New Issue
Block a user